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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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24
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -431,11 +431,10 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i)
{
btSoftBody::Node& n = psb->m_nodes[i];
vol = btDbvtVolume::FromCR(n.m_q, psb->m_sst.radmrg);
psb->m_ndbvt.update(n.m_leaf,
vol,
n.m_v * psb->m_sst.velmrg,
psb->m_sst.updmrg);
btVector3 points[2] = {n.m_x, n.m_q};
vol = btDbvtVolume::FromPoints(points, 2);
vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg));
psb->m_ndbvt.update(n.m_leaf, vol);
}
if (!psb->m_fdbvt.empty())
@@ -443,15 +442,12 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
for (int i = 0; i < psb->m_faces.size(); ++i)
{
btSoftBody::Face& f = psb->m_faces[i];
const btVector3 v = (f.m_n[0]->m_v +
f.m_n[1]->m_v +
f.m_n[2]->m_v) /
3;
vol = VolumeOf(f, psb->m_sst.radmrg);
psb->m_fdbvt.update(f.m_leaf,
vol,
v * psb->m_sst.velmrg,
psb->m_sst.updmrg);
btVector3 points[6] = {f.m_n[0]->m_x, f.m_n[0]->m_q,
f.m_n[1]->m_x, f.m_n[1]->m_q,
f.m_n[2]->m_x, f.m_n[2]->m_q};
vol = btDbvtVolume::FromPoints(points, 6);
vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg));
psb->m_fdbvt.update(f.m_leaf, vol);
}
}
/* Clear contacts */