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add naive implementation of self collision

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This commit is contained in:
Xuchen Han
2019-09-20 10:11:13 -07:00
parent be7383cc03
commit 416e516735
10 changed files with 296 additions and 3 deletions
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14
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -51,6 +51,11 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
///perform collision detection
btMultiBodyDynamicsWorld::performDiscreteCollisionDetection();
if (m_selfCollision)
{
softBodySelfCollision();
}
btMultiBodyDynamicsWorld::calculateSimulationIslands();
beforeSolverCallbacks(timeStep);
@@ -70,6 +75,15 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
// ///////////////////////////////
}
void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision()
{
for (int i = 0; i < m_softBodies.size(); i++)
{
btSoftBody* psb = (btSoftBody*)m_softBodies[i];
psb->defaultCollisionHandler(psb);
}
}
void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
{
BT_PROFILE("integrateTransforms");