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Fix btSoftBody issue, so it can interact with btCollisionObject and btGhostObject (and not just btRigidBody and btSoftBody)

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Thank for the report mi076 http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2823

remove legacy.c from libxml
removed #include <math.h> from btQuadWord.h , it should be centralized in btScalar.h (to allow easier replacement with fastmath.h etc)
This commit is contained in:
erwin.coumans
2008-11-10 20:33:14 +00:00
parent 8865e38e5b
commit 3c0ca0d931
8 changed files with 39 additions and 25 deletions
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2
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -2600,7 +2600,7 @@ void btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
case fCollision::CL_RS:
{
btSoftColliders::CollideCL_RS collider;
collider.Process(this,btRigidBody::upcast(pco));
collider.Process(this,pco);
}
break;
}

18
src/BulletSoftBody/btSoftBody.h
View File

@@ -324,11 +324,17 @@ public:
/* Body */
struct Body
{
Cluster* m_soft;
btRigidBody* m_rigid;
Body() : m_soft(0),m_rigid(0) {}
Body(Cluster* p) : m_soft(p),m_rigid(0) {}
Body(btRigidBody* p) : m_soft(0),m_rigid(p) {}
Cluster* m_soft;
btRigidBody* m_rigid;
btCollisionObject* m_collisionObject;
Body() : m_soft(0),m_rigid(0),m_collisionObject(0) {}
Body(Cluster* p) : m_soft(p),m_rigid(0),m_collisionObject(0) {}
Body(btCollisionObject* colObj) : m_soft(0),m_collisionObject(colObj)
{
m_rigid = btRigidBody::upcast(m_collisionObject);
}
void activate() const
{
if(m_rigid) m_rigid->activate();
@@ -349,7 +355,7 @@ public:
const btTransform& xform() const
{
static const btTransform identity=btTransform::getIdentity();
if(m_rigid) return(m_rigid->getInterpolationWorldTransform());
if(m_collisionObject) return(m_collisionObject->getInterpolationWorldTransform());
if(m_soft) return(m_soft->m_framexform);
return(identity);
}

23
src/BulletSoftBody/btSoftBodyInternals.h
View File

@@ -708,23 +708,24 @@ struct btSoftColliders
struct CollideCL_RS : ClusterBase
{
btSoftBody* psb;
btRigidBody* prb;
btCollisionObject* m_colObj;
void Process(const btDbvtNode* leaf)
{
btSoftBody::Cluster* cluster=(btSoftBody::Cluster*)leaf->data;
btSoftClusterCollisionShape cshape(cluster);
const btConvexShape* rshape=(const btConvexShape*)prb->getCollisionShape();
const btConvexShape* rshape=(const btConvexShape*)m_colObj->getCollisionShape();
btGjkEpaSolver2::sResults res;
if(btGjkEpaSolver2::SignedDistance( &cshape,btTransform::getIdentity(),
rshape,prb->getInterpolationWorldTransform(),
rshape,m_colObj->getInterpolationWorldTransform(),
btVector3(1,0,0),res))
{
btSoftBody::CJoint joint;
if(SolveContact(res,cluster,prb,joint))
if(SolveContact(res,cluster,m_colObj,joint))//prb,joint))
{
btSoftBody::CJoint* pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
*pj=joint;psb->m_joints.push_back(pj);
if(prb->isStaticOrKinematicObject())
if(m_colObj->isStaticOrKinematicObject())
{
pj->m_erp *= psb->m_cfg.kSKHR_CL;
pj->m_split *= psb->m_cfg.kSK_SPLT_CL;
@@ -737,19 +738,19 @@ struct btSoftColliders
}
}
}
void Process(btSoftBody* ps,btRigidBody* pr)
void Process(btSoftBody* ps,btCollisionObject* colOb)
{
psb = ps;
prb = pr;
m_colObj = colOb;
idt = ps->m_sst.isdt;
margin = ps->getCollisionShape()->getMargin()+
pr->getCollisionShape()->getMargin();
friction = btMin(psb->m_cfg.kDF,prb->getFriction());
margin = m_colObj->getCollisionShape()->getMargin()+
m_colObj->getCollisionShape()->getMargin();
friction = btMin(psb->m_cfg.kDF,m_colObj->getFriction());
btVector3 mins;
btVector3 maxs;
ATTRIBUTE_ALIGNED16(btDbvtVolume) volume;
pr->getCollisionShape()->getAabb(pr->getInterpolationWorldTransform(),mins,maxs);
colOb->getCollisionShape()->getAabb(colOb->getInterpolationWorldTransform(),mins,maxs);
volume=btDbvtVolume::FromMM(mins,maxs);
volume.Expand(btVector3(1,1,1)*margin);
ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root,volume,*this);