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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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9
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -1255,6 +1255,12 @@ struct btSoftColliders
{
btSoftBody::Node* node = (btSoftBody::Node*)lnode->data;
btSoftBody::Face* face = (btSoftBody::Face*)lface->data;
for (int i = 0; i < 3; ++i)
{
if (face->m_n[i] == node)
continue;
}
btVector3 o = node->m_x;
btVector3 p;
btScalar d = SIMD_INFINITY;
@@ -1318,7 +1324,8 @@ struct btSoftColliders
btVector3 v1 = face->m_n[1]->m_x;
btVector3 v2 = face->m_n[2]->m_x;
btVector3 vc = (v0+v1+v2)/3.;
btScalar scale = 2;
btScalar scale = 1;
// enlarge the triangle to catch collision on the edge
btVector3 u0 = vc + (v0-vc)*scale;
btVector3 u1 = vc + (v1-vc)*scale;
btVector3 u2 = vc + (v2-vc)*scale;