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add option to turn face contact on/off

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This commit is contained in:
Xuchen Han
2019-10-14 15:21:58 -07:00
parent 05c25a27de
commit 774937bcd6
4 changed files with 23 additions and 16 deletions
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20
src/BulletSoftBody/btSoftBody.cpp
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@@ -117,6 +117,9 @@ void btSoftBody::initDefaults()
m_windVelocity = btVector3(0, 0, 0);
m_restLengthScale = btScalar(1.0);
m_dampingCoefficient = 1;
m_sleepingThreshold = 0.01;
m_useFaceContact = false;
m_collisionFlags = 0;
}
//
@@ -3494,13 +3497,16 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
docollideNode.stamargin = basemargin;
m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode);
btSoftColliders::CollideSDF_RDF docollideFace;
docollideFace.psb = this;
docollideFace.m_colObj1Wrap = pcoWrap;
docollideFace.m_rigidBody = prb1;
docollideFace.dynmargin = basemargin + timemargin;
docollideFace.stamargin = basemargin;
m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
if (this->m_useFaceContact)
{
btSoftColliders::CollideSDF_RDF docollideFace;
docollideFace.psb = this;
docollideFace.m_colObj1Wrap = pcoWrap;
docollideFace.m_rigidBody = prb1;
docollideFace.dynmargin = basemargin + timemargin;
docollideFace.stamargin = basemargin;
m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
}
}
}
break;