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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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122
src/BulletSoftBody/btSoftBody.cpp
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@@ -117,7 +117,7 @@ void btSoftBody::initDefaults()
m_windVelocity = btVector3(0, 0, 0);
m_restLengthScale = btScalar(1.0);
m_dampingCoefficient = 1;
m_sleepingThreshold = 0.01;
m_sleepingThreshold = 0.1;
m_useFaceContact = false;
m_collisionFlags = 0;
}
@@ -3601,51 +3601,43 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
break;
case fCollision::VF_DD:
{
if (this != psb)
if (psb->isActive() || this->isActive())
{
btSoftColliders::CollideVF_DD docollide;
/* common */
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
/* psb0 nodes vs psb1 faces */
docollide.psb[0] = this;
docollide.psb[1] = psb;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
/* psb1 nodes vs psb0 faces */
docollide.psb[0] = psb;
docollide.psb[1] = this;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
}
else
{
if (psb->useSelfCollision())
if (this != psb)
{
btSoftColliders::CollideFF_DD docollide;
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
docollide.psb[0] = this;
docollide.psb[1] = psb;
/* psb0 faces vs psb0 faces */
btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root);
calculateNormalCone(root);
this->m_fdbvt.selfCollideT(root,docollide);
delete root;
btSoftColliders::CollideVF_DD docollide;
/* common */
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
/* psb0 nodes vs psb1 faces */
docollide.psb[0] = this;
docollide.psb[1] = psb;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
/* psb1 nodes vs psb0 faces */
docollide.psb[0] = psb;
docollide.psb[1] = this;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
}
else
{
if (psb->useSelfCollision())
{
btSoftColliders::CollideFF_DD docollide;
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
docollide.psb[0] = this;
docollide.psb[1] = psb;
/* psb0 faces vs psb0 faces */
btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root);
calculateNormalCone(root);
this->m_fdbvt.selfCollideT(root,docollide);
delete root;
}
}
// btSoftColliders::CollideFF_DD docollide;
// /* common */
// docollide.mrg = getCollisionShape()->getMargin() +
// psb->getCollisionShape()->getMargin();
// /* psb0 nodes vs psb1 faces */
// docollide.psb[0] = this;
// docollide.psb[1] = psb;
// docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_fdbvt.m_root,
// docollide.psb[1]->m_fdbvt.m_root,
// docollide);
}
}
break;
@@ -4051,3 +4043,47 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
return btSoftBodyDataName;
}
void btSoftBody::updateDeactivation(btScalar timeStep)
{
if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
return;
if (m_maxSpeedSquared < m_sleepingThreshold * m_sleepingThreshold)
{
m_deactivationTime += timeStep;
}
else
{
m_deactivationTime = btScalar(0.);
setActivationState(0);
}
}
void btSoftBody::setZeroVelocity()
{
for (int i = 0; i < m_nodes.size(); ++i)
{
m_nodes[i].m_v.setZero();
}
}
bool btSoftBody::wantsSleeping()
{
if (getActivationState() == DISABLE_DEACTIVATION)
return false;
//disable deactivation
if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
return false;
if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
return true;
if (m_deactivationTime > gDeactivationTime)
{
return true;
}
return false;
}