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Fixes / improvements in soft body:

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avoid blow-up due to improper mass calculation for fixed nodes (happened when using clusters)
allow to create collision clusters for each tetrahedron or triangle, when using btSoftBody::generateClusters(0)
tweak soft body demos a bit, only draw debug wireframe if necessary
This commit is contained in:
erwin.coumans
2009-08-28 21:23:54 +00:00
parent f492899499
commit 2ef7c1a457
7 changed files with 218 additions and 68 deletions
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24
src/BulletSoftBody/btSoftBody.h
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@@ -110,9 +110,10 @@ public:
SDF_RS = 0x0001, ///SDF based rigid vs soft
CL_RS = 0x0002, ///Cluster vs convex rigid vs soft
SVSmask = 0x00f0, ///Rigid versus soft mask
SVSmask = 0x0030, ///Rigid versus soft mask
VF_SS = 0x0010, ///Vertex vs face soft vs soft handling
CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling
CL_SELF = 0x0040, ///Cluster soft body self collision
/* presets */
Default = SDF_RS,
END
@@ -307,9 +308,14 @@ public:
btScalar m_ldamping; /* Linear damping */
btScalar m_adamping; /* Angular damping */
btScalar m_matching;
btScalar m_maxSelfCollisionImpulse;
btScalar m_selfCollisionImpulseFactor;
bool m_collide;
int m_clusterIndex;
Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) {}
Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0)
,m_maxSelfCollisionImpulse(100.f),
m_selfCollisionImpulseFactor(0.01f)
{}
};
/* Impulse */
struct Impulse
@@ -406,8 +412,16 @@ public:
}
void applyImpulse(const Impulse& impulse,const btVector3& rpos) const
{
if(impulse.m_asVelocity) applyVImpulse(impulse.m_velocity,rpos);
if(impulse.m_asDrift) applyDImpulse(impulse.m_drift,rpos);
if(impulse.m_asVelocity)
{
// printf("impulse.m_velocity = %f,%f,%f\n",impulse.m_velocity.getX(),impulse.m_velocity.getY(),impulse.m_velocity.getZ());
applyVImpulse(impulse.m_velocity,rpos);
}
if(impulse.m_asDrift)
{
// printf("impulse.m_drift = %f,%f,%f\n",impulse.m_drift.getX(),impulse.m_drift.getY(),impulse.m_drift.getZ());
applyDImpulse(impulse.m_drift,rpos);
}
}
void applyVAImpulse(const btVector3& impulse) const
{
@@ -780,6 +794,8 @@ public:
void releaseCluster(int index);
void releaseClusters();
/* Generate clusters (K-mean) */
///generateClusters with k=0 will create a convex cluster for each tetrahedron or triangle
///otherwise an approximation will be used (better performance)
int generateClusters(int k,int maxiterations=8192);
/* Refine */
void refine(ImplicitFn* ifn,btScalar accurary,bool cut);