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Synchronized changes of Bullet, from Blender.

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Added optional flag btSoftBody::appendAnchor(	int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false), to disable collision between soft body and rigid body, when pinned
Added btCollisionObject::setAnisotropicFriction, to scale friction in x,y,z direction.
Added btCollisionObject::setContactProcessingThreshold(float threshold), to avoid collision resolution of contact above a certain distance.
Avoid collisions between static objects (causes the CharacterDemo to assert, when a dynamic object hits character)
This commit is contained in:
erwin.coumans
2009-03-03 06:47:52 +00:00
parent 5be9f8f301
commit 459c22e7cb
11 changed files with 336 additions and 245 deletions
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49
src/BulletSoftBody/btSoftBody.cpp
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@@ -87,7 +87,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo,int node_count, const btV
}
updateBounds();
m_initialWorldTransform.setIdentity();
}
//
@@ -306,8 +306,16 @@ void btSoftBody::appendFace(int node0,int node1,int node2,Material* mat)
}
//
void btSoftBody::appendAnchor(int node,btRigidBody* body)
void btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies)
{
if (disableCollisionBetweenLinkedBodies)
{
if (m_collisionDisabledObjects.findLinearSearch(body)==m_collisionDisabledObjects.size())
{
m_collisionDisabledObjects.push_back(body);
}
}
Anchor a;
a.m_node = &m_nodes[node];
a.m_body = body;
@@ -501,6 +509,7 @@ void btSoftBody::transform(const btTransform& trs)
updateNormals();
updateBounds();
updateConstants();
m_initialWorldTransform = trs;
}
//
@@ -2662,22 +2671,26 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
break;
case fCollision::VF_SS:
{
btSoftColliders::CollideVF_SS 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);
//only self-collision for Cluster, not Vertex-Face yet
if (this!=psb)
{
btSoftColliders::CollideVF_SS 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);
}
}
break;
}

7
src/BulletSoftBody/btSoftBody.h
View File

@@ -49,6 +49,8 @@ struct btSoftBodyWorldInfo
class btSoftBody : public btCollisionObject
{
public:
btAlignedObjectArray<class btCollisionObject*> m_collisionDisabledObjects;
//
// Enumerations
//
@@ -604,8 +606,11 @@ public:
btDbvt m_fdbvt; // Faces tree
btDbvt m_cdbvt; // Clusters tree
tClusterArray m_clusters; // Clusters
btAlignedObjectArray<bool>m_clusterConnectivity;//cluster connectivity, for self-collision
btTransform m_initialWorldTransform;
//
// Api
//
@@ -678,7 +683,7 @@ public:
Material* mat=0);
/* Append anchor */
void appendAnchor( int node,
btRigidBody* body);
btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false);
/* Append linear joint */
void appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1);
void appendLinearJoint(const LJoint::Specs& specs,Body body=Body());

7
src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
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@@ -58,8 +58,11 @@ void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,b
btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0;
btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1;
softBody->defaultCollisionHandler(rigidCollisionObject);
if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObject)==softBody->m_collisionDisabledObjects.size())
{
softBody->defaultCollisionHandler(rigidCollisionObject);
}
}