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enable deformable sleeping

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This commit is contained in:
Xuchen Han
2019-10-16 12:00:02 -07:00
parent 3ae193ff15
commit 3d622a3bee
9 changed files with 162 additions and 54 deletions
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34
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -70,18 +70,46 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
///update vehicle simulation
btMultiBodyDynamicsWorld::updateActions(timeStep);
btMultiBodyDynamicsWorld::updateActivationState(timeStep);
updateActivationState(timeStep);
// End solver-wise simulation step
// ///////////////////////////////
}
void btDeformableMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
{
for (int i = 0; i < m_softBodies.size(); i++)
{
btSoftBody* psb = m_softBodies[i];
psb->updateDeactivation(timeStep);
if (psb->wantsSleeping())
{
if (psb->getActivationState() == ACTIVE_TAG)
psb->setActivationState(WANTS_DEACTIVATION);
if (psb->getActivationState() == ISLAND_SLEEPING)
{
psb->setZeroVelocity();
}
}
else
{
if (psb->getActivationState() != DISABLE_DEACTIVATION)
psb->setActivationState(ACTIVE_TAG);
}
}
btMultiBodyDynamicsWorld::updateActivationState(timeStep);
}
void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision()
{
m_deformableBodySolver->updateSoftBodies();
for (int i = 0; i < m_softBodies.size(); i++)
{
btSoftBody* psb = (btSoftBody*)m_softBodies[i];
psb->defaultCollisionHandler(psb);
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
psb->defaultCollisionHandler(psb);
}
}
}