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fixed btSoftBodyConcaveCollisionAlgorithm, wrong bounding box transformation

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added vertex welding option for btTriangleMesh (brute-force slow)
reject appendFace for some degenerate triangles (all 3 vertices/nodes need to be different)
add setVelocity method for btSoftBody
This commit is contained in:
erwin.coumans
2008-09-26 21:59:03 +00:00
parent e0d1c1d057
commit 682a0a1b90
5 changed files with 99 additions and 72 deletions
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21
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -284,6 +284,13 @@ m_faces.push_back(f);
//
void btSoftBody::appendFace(int node0,int node1,int node2,Material* mat)
{
if (node0==node1)
return;
if (node1==node2)
return;
if (node2==node0)
return;
appendFace(-1,mat);
Face& f=m_faces[m_faces.size()-1];
btAssert(node0!=node1);
@@ -384,6 +391,20 @@ void btSoftBody::addVelocity(const btVector3& velocity)
for(int i=0,ni=m_nodes.size();i<ni;++i) addVelocity(velocity,i);
}
/* Set velocity for the entire body */
void btSoftBody::setVelocity( const btVector3& velocity)
{
for(int i=0,ni=m_nodes.size();i<ni;++i)
{
Node& n=m_nodes[i];
if(n.m_im>0)
{
n.m_v = velocity;
}
}
}
//
void btSoftBody::addVelocity(const btVector3& velocity,int node)
{

4
src/BulletSoftBody/btSoftBody.h
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@@ -677,6 +677,10 @@ public:
int node);
/* Add velocity to the entire body */
void addVelocity( const btVector3& velocity);
/* Set velocity for the entire body */
void setVelocity( const btVector3& velocity);
/* Add velocity to a node of the body */
void addVelocity( const btVector3& velocity,
int node);

40
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
View File

@@ -32,7 +32,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletSoftBody/btSoftBody.h"
#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.3)
#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable
btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
: btCollisionAlgorithm(ci),
@@ -210,44 +210,22 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
m_dispatchInfoPtr = &dispatchInfo;
m_collisionMarginTriangle = collisionMarginTriangle;
m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
m_resultOut = resultOut;
//recalc aabbs
// btTransform softbodyInTriangleSpace;
// softbodyInTriangleSpace = m_triBody->getWorldTransform().inverse() * m_softBody->getWorldTransform();
// btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax;
m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5);
btVector3 softBodyCenter = (aabbWorldSpaceMax+aabbWorldSpaceMin)*btScalar(0.5);
btTransform triInverse = m_triBody->getWorldTransform().inverse();
btMatrix3x3 abs_b = triInverse.getBasis().absolute();
btPoint3 center = softBodyCenter + triInverse.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
// extent += btVector3(getMargin(),getMargin(),getMargin());
m_aabbMin = center - extent;
m_aabbMax = center + extent;
btScalar extraMargin = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
btVector3 extra(extraMargin,extraMargin,extraMargin);
m_aabbMax += extra;
m_aabbMin -= extra;
/* btVector3 extra(2,2,2);
m_aabbMin = aabbWorldSpaceMin-extra;
m_aabbMax = aabbWorldSpaceMax+extra;
*/
btTransform softTransform;
softTransform.setIdentity();
softTransform.setOrigin(softBodyCenter);
btTransform convexInTriangleSpace;
convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * softTransform;
btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax);
}
void btSoftBodyConcaveCollisionAlgorithm::clearCache()