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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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65
src/BulletSoftBody/btSoftBody.cpp
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@@ -2306,9 +2306,9 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr
const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject();
// use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect
// but resolve contact at x_n // but resolve contact at x_n
//btTransform wtr = (predict) ? // btTransform wtr = (predict) ?
//(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) // (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
//: colObjWrap->getWorldTransform(); // : colObjWrap->getWorldTransform();
const btTransform& wtr = colObjWrap->getWorldTransform(); const btTransform& wtr = colObjWrap->getWorldTransform();
btScalar dst = btScalar dst =
m_worldInfo->m_sparsesdf.Evaluate( m_worldInfo->m_sparsesdf.Evaluate(
@@ -3430,35 +3430,38 @@ 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 wtr = pcoWrap->getWorldTransform();
// const btTransform ctr = pcoWrap->getWorldTransform();
// const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length();
const btScalar timemargin = 0;
const btScalar basemargin = getCollisionShape()->getMargin();
btVector3 mins;
btVector3 maxs;
ATTRIBUTE_ALIGNED16(btDbvtVolume)
volume;
pcoWrap->getCollisionShape()->getAabb(wtr,
mins,
maxs);
volume = btDbvtVolume::FromMM(mins, maxs);
volume.Expand(btVector3(basemargin, basemargin, basemargin));
btSoftColliders::CollideSDF_RD docollideNode;
docollideNode.psb = this;
docollideNode.m_colObj1Wrap = pcoWrap;
docollideNode.m_rigidBody = prb1;
docollideNode.dynmargin = basemargin + timemargin;
docollideNode.stamargin = basemargin;
m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode);
const btTransform ctr = pcoWrap->getWorldTransform(); btSoftColliders::CollideSDF_RDF docollideFace;
const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length(); docollideFace.psb = this;
const btScalar basemargin = getCollisionShape()->getMargin(); docollideFace.m_colObj1Wrap = pcoWrap;
btVector3 mins; docollideFace.m_rigidBody = prb1;
btVector3 maxs; docollideFace.dynmargin = basemargin + timemargin;
ATTRIBUTE_ALIGNED16(btDbvtVolume) docollideFace.stamargin = basemargin;
volume; m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
pcoWrap->getCollisionShape()->getAabb(pcoWrap->getWorldTransform(), }
mins,
maxs);
volume = btDbvtVolume::FromMM(mins, maxs);
volume.Expand(btVector3(basemargin, basemargin, basemargin));
btSoftColliders::CollideSDF_RD docollideNode;
docollideNode.psb = this;
docollideNode.m_colObj1Wrap = pcoWrap;
docollideNode.m_rigidBody = prb1;
docollideNode.dynmargin = basemargin + timemargin;
docollideNode.stamargin = basemargin;
m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode);
btSoftColliders::CollideSDF_RDF docollideFace;
docollideFace.psb = this;
docollideFace.m_colObj1Wrap = pcoWrap;
docollideFace.m_rigidBody = prb1;
docollideFace.dynmargin = basemargin + timemargin;
docollideFace.stamargin = basemargin;
m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
} }
break; break;
} }

2
src/BulletSoftBody/btSoftBodyInternals.h
View File

@@ -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)
{ {