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change collision detection between deformables to from continuous to discrete

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This commit is contained in:
Xuchen Han
2019-11-11 13:58:03 -08:00
parent b25d806b14
commit 794614f269
5 changed files with 155 additions and 134 deletions
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67
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -349,6 +349,9 @@ struct btDbvt
DBVT_PREFIX
void selfCollideT(const btDbvntNode* root,
DBVT_IPOLICY);
DBVT_PREFIX
void selfCollideTT(const btDbvtNode* root,
DBVT_IPOLICY);
DBVT_PREFIX
void collideTTpersistentStack(const btDbvtNode* root0,
@@ -944,6 +947,70 @@ inline void btDbvt::selfCollideT(const btDbvntNode* root,
}
}
//
DBVT_PREFIX
inline void btDbvt::selfCollideTT(const btDbvtNode* root,
DBVT_IPOLICY)
{
DBVT_CHECKTYPE
if (root)
{
int depth = 1;
int treshold = DOUBLE_STACKSIZE - 4;
btAlignedObjectArray<sStkNN> stkStack;
stkStack.resize(DOUBLE_STACKSIZE);
stkStack[0] = sStkNN(root, root);
do
{
sStkNN p = stkStack[--depth];
if (depth > treshold)
{
stkStack.resize(stkStack.size() * 2);
treshold = stkStack.size() - 4;
}
if (p.a == p.b)
{
if (p.a->isinternal())
{
stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]);
stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]);
stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]);
}
}
else if (Intersect(p.a->volume, p.b->volume))
{
if (p.a->isinternal())
{
if (p.b->isinternal())
{
stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]);
stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]);
stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]);
stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]);
}
else
{
stkStack[depth++] = sStkNN(p.a->childs[0], p.b);
stkStack[depth++] = sStkNN(p.a->childs[1], p.b);
}
}
else
{
if (p.b->isinternal())
{
stkStack[depth++] = sStkNN(p.a, p.b->childs[0]);
stkStack[depth++] = sStkNN(p.a, p.b->childs[1]);
}
else
{
policy.Process(p.a, p.b);
}
}
}
} while (depth);
}
}
DBVT_PREFIX
inline void btDbvt::collideTTpersistentStack(const btDbvtNode* root0,