From 75d0cfaf695b9e0841c4c23af9c1b3173b8cc9ea Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan2015@u.northwestern.edu>
Date: Wed, 21 Aug 2019 22:29:53 -0700
Subject: [PATCH] restore default voxelsz and add option to change voxelsz

---
 .../btDeformableMultiBodyDynamicsWorld.h               |  1 +
 src/BulletSoftBody/btSparseSDF.h                       | 10 +++++++++-
 2 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
index b4f7dbe5a..1b1806bac 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
@@ -70,6 +70,7 @@ public:
         m_sbi.m_broadphase = pairCache;
         m_sbi.m_dispatcher = dispatcher;
         m_sbi.m_sparsesdf.Initialize();
+        m_sbi.m_sparsesdf.setDefaultVoxelsz(0.0025);
         m_sbi.m_sparsesdf.Reset();
         
         m_sbi.air_density = (btScalar)1.2;
diff --git a/src/BulletSoftBody/btSparseSDF.h b/src/BulletSoftBody/btSparseSDF.h
index a52b2cb1c..8258c3eeb 100644
--- a/src/BulletSoftBody/btSparseSDF.h
+++ b/src/BulletSoftBody/btSparseSDF.h
@@ -70,6 +70,7 @@ struct btSparseSdf
 
 	btAlignedObjectArray<Cell*> cells;
 	btScalar voxelsz;
+    btScalar m_defaultVoxelsz;
 	int puid;
 	int ncells;
 	int m_clampCells;
@@ -87,9 +88,16 @@ struct btSparseSdf
 		//if this limit is reached, the SDF is reset (at the cost of some performance during the reset)
 		m_clampCells = clampCells;
 		cells.resize(hashsize, 0);
+        m_defaultVoxelsz = 0.25;
 		Reset();
 	}
 	//
+    
+    void setDefaultVoxelsz(btScalar sz)
+    {
+        m_defaultVoxelsz = sz;
+    }
+    
 	void Reset()
 	{
 		for (int i = 0, ni = cells.size(); i < ni; ++i)
@@ -103,7 +111,7 @@ struct btSparseSdf
 				pc = pn;
 			}
 		}
-		voxelsz = 0.25;
+		voxelsz = m_defaultVoxelsz;
 		puid = 0;
 		ncells = 0;
 		nprobes = 1;