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prevent narrow phase collision detection between rigid and soft when both are sleeping

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This commit is contained in:
Xuchen Han
2019-10-07 14:40:11 -07:00
parent c610ba49df
commit 3b945597d1
2 changed files with 37 additions and 32 deletions
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13
src/BulletSoftBody/btSoftBody.cpp
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@@ -3430,16 +3430,18 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
{ {
btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject()); btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject());
btTransform wtr = pcoWrap->getWorldTransform(); if (pcoWrap->getCollisionObject()->isActive() || this->isActive())
{
const btTransform ctr = pcoWrap->getWorldTransform(); const btTransform wtr = pcoWrap->getWorldTransform();
const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length(); // const btTransform ctr = pcoWrap->getWorldTransform();
// const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length();
const btScalar timemargin = 0;
const btScalar basemargin = getCollisionShape()->getMargin(); const btScalar basemargin = getCollisionShape()->getMargin();
btVector3 mins; btVector3 mins;
btVector3 maxs; btVector3 maxs;
ATTRIBUTE_ALIGNED16(btDbvtVolume) ATTRIBUTE_ALIGNED16(btDbvtVolume)
volume; volume;
pcoWrap->getCollisionShape()->getAabb(pcoWrap->getWorldTransform(), pcoWrap->getCollisionShape()->getAabb(wtr,
mins, mins,
maxs); maxs);
volume = btDbvtVolume::FromMM(mins, maxs); volume = btDbvtVolume::FromMM(mins, maxs);
@@ -3460,6 +3462,7 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
docollideFace.stamargin = basemargin; docollideFace.stamargin = basemargin;
m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
} }
}
break; break;
} }
} }

2
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -1074,6 +1074,7 @@ struct btSoftColliders
if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true) || psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true)) if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true) || psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true))
{ {
const btScalar ima = n.m_im; const btScalar ima = n.m_im;
// todo: collision between multibody and fixed deformable node will be missed.
const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
const btScalar ms = ima + imb; const btScalar ms = ima + imb;
if (ms > 0) if (ms > 0)
@@ -1169,6 +1170,7 @@ struct btSoftColliders
{ {
btScalar ima = n0->m_im + n1->m_im + n2->m_im; btScalar ima = n0->m_im + n1->m_im + n2->m_im;
const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
// todo: collision between multibody and fixed deformable face will be missed.
const btScalar ms = ima + imb; const btScalar ms = ima + imb;
if (ms > 0) if (ms > 0)
{ {