Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

approximate face contact WIP

Browse Source
This commit is contained in:
Xuchen Han
2019-11-12 11:50:47 -08:00
parent 794614f269
commit 42b5c93bad
3 changed files with 46 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/BulletSoftBody/btSoftBody.h
View File

@@ -288,6 +288,7 @@ public:
btVector3 m_normal; // Normal
btScalar m_ra; // Rest area
btDbvtNode* m_leaf; // Leaf data
btVector4 m_pcontact; // barycentric weights of the persistent contact
int m_index;
};
/* Tetra */
@@ -1120,7 +1121,7 @@ public:
void initializeFaceTree();
btVector3 evaluateCom() const;
bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const;
bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, const Face& x, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const;
bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, Face& x, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const;
bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const;
void updateNormals();
void updateBounds();