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add support for anchor constraint between deformable and rigid

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This commit is contained in:
Xuchen Han
2019-10-16 19:23:01 -07:00
parent 3d622a3bee
commit 60dfe1fe69
11 changed files with 487 additions and 2 deletions
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10
src/BulletSoftBody/btSoftBody.h
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@@ -354,6 +354,12 @@ public:
Node* m_node; // Owner node
};
class DeformableNodeRigidAnchor : public DeformableNodeRigidContact
{
public:
btVector3 m_local; // Anchor position in body space
};
class DeformableFaceRigidContact : public DeformableRigidContact
{
public:
@@ -774,6 +780,7 @@ public:
btAlignedObjectArray<TetraScratch> m_tetraScratches;
btAlignedObjectArray<TetraScratch> m_tetraScratchesTn;
tAnchorArray m_anchors; // Anchors
btAlignedObjectArray<DeformableNodeRigidAnchor> m_deformableAnchors;
tRContactArray m_rcontacts; // Rigid contacts
btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts;
btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContacts;
@@ -897,7 +904,8 @@ public:
Material* mat = 0);
/* Append anchor */
void appendAnchor(int node,
void appendDeformableAnchor(int node, btRigidBody* body);
void appendAnchor(int node,
btRigidBody* body, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1);
void appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1);
/* Append linear joint */