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Improved BulletSoftBody serialization, added cluster support. Joints and copying data from GPU back to softbody are the main todo.

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Updated the Bullet/Demos/SerializeDemo to load .bullet files with the softbody data.

BulletSoftBody should use getWorldTransform and not getInterpolationWorldTransform
Fix btBulletWorldImporter so that it creates a copy of the index/vertex data, this prevents crashes when deleting the .bullet file with triangle meshes.
This commit is contained in:
erwin.coumans
2010-12-03 03:11:21 +00:00
parent 032c6bfe2c
commit 6173a30bce
9 changed files with 964 additions and 472 deletions
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6
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -733,7 +733,7 @@ struct btSoftColliders
btGjkEpaSolver2::sResults res;
if(btGjkEpaSolver2::SignedDistance( &cshape,btTransform::getIdentity(),
rshape,m_colObj->getInterpolationWorldTransform(),
rshape,m_colObj->getWorldTransform(),
btVector3(1,0,0),res))
{
btSoftBody::CJoint joint;
@@ -766,7 +766,7 @@ struct btSoftColliders
btVector3 maxs;
ATTRIBUTE_ALIGNED16(btDbvtVolume) volume;
colOb->getCollisionShape()->getAabb(colOb->getInterpolationWorldTransform(),mins,maxs);
colOb->getCollisionShape()->getAabb(colOb->getWorldTransform(),mins,maxs);
volume=btDbvtVolume::FromMM(mins,maxs);
volume.Expand(btVector3(1,1,1)*m_margin);
ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root,volume,*this);
@@ -849,7 +849,7 @@ struct btSoftColliders
const btScalar ms=ima+imb;
if(ms>0)
{
const btTransform& wtr=m_rigidBody?m_rigidBody->getInterpolationWorldTransform() : m_colObj1->getWorldTransform();
const btTransform& wtr=m_rigidBody?m_rigidBody->getWorldTransform() : m_colObj1->getWorldTransform();
static const btMatrix3x3 iwiStatic(0,0,0,0,0,0,0,0,0);
const btMatrix3x3& iwi=m_rigidBody?m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
const btVector3 ra=n.m_x-wtr.getOrigin();