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

basic implementation of self-collision for btSoftBody with collision clusters: perform regular soft body versus soft body, but disable collision detection between clusters that are connected/share any node (vertex).

Browse Source 
currently self-collision is always enabled for soft bodies that use clusters collision detectoin. to disable, call 'softbody.m_clusterConnectivity.clear' after 'generateClusters(...) call.
This commit is contained in:
erwin.coumans
2009-03-02 05:13:26 +00:00
parent 210fe36106
commit 5be9f8f301
4 changed files with 73 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
src/BulletSoftBody/btSoftBodyInternals.h
View File

@@ -766,21 +766,38 @@ struct btSoftColliders
{
btSoftBody::Cluster* cla=(btSoftBody::Cluster*)la->data;
btSoftBody::Cluster* clb=(btSoftBody::Cluster*)lb->data;
btSoftClusterCollisionShape csa(cla);
btSoftClusterCollisionShape csb(clb);
btGjkEpaSolver2::sResults res;
if(btGjkEpaSolver2::SignedDistance( &csa,btTransform::getIdentity(),
&csb,btTransform::getIdentity(),
cla->m_com-clb->m_com,res))
bool connected=false;
if ((bodies[0]==bodies[1])&&(bodies[0]->m_clusterConnectivity.size()))
{
btSoftBody::CJoint joint;
if(SolveContact(res,cla,clb,joint))
connected = bodies[0]->m_clusterConnectivity[cla->m_clusterIndex+bodies[0]->m_clusters.size()*clb->m_clusterIndex];
}
if (!connected)
{
btSoftClusterCollisionShape csa(cla);
btSoftClusterCollisionShape csb(clb);
btGjkEpaSolver2::sResults res;
if(btGjkEpaSolver2::SignedDistance( &csa,btTransform::getIdentity(),
&csb,btTransform::getIdentity(),
cla->m_com-clb->m_com,res))
{
btSoftBody::CJoint* pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
*pj=joint;bodies[0]->m_joints.push_back(pj);
pj->m_erp *= btMax(bodies[0]->m_cfg.kSSHR_CL,bodies[1]->m_cfg.kSSHR_CL);
pj->m_split *= (bodies[0]->m_cfg.kSS_SPLT_CL+bodies[1]->m_cfg.kSS_SPLT_CL)/2;
btSoftBody::CJoint joint;
if(SolveContact(res,cla,clb,joint))
{
btSoftBody::CJoint* pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
*pj=joint;bodies[0]->m_joints.push_back(pj);
pj->m_erp *= btMax(bodies[0]->m_cfg.kSSHR_CL,bodies[1]->m_cfg.kSSHR_CL);
pj->m_split *= (bodies[0]->m_cfg.kSS_SPLT_CL+bodies[1]->m_cfg.kSS_SPLT_CL)/2;
}
}
} else
{
static int count=0;
count++;
//printf("count=%d\n",count);
}
}
void Process(btSoftBody* psa,btSoftBody* psb)