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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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12
src/BulletSoftBody/btSoftBody.cpp
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@@ -3702,12 +3702,20 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
/* psb0 nodes vs psb1 faces */
if (psb->m_tetras.size() > 0)
docollide.useFaceNormal = true;
else
docollide.useFaceNormal = false;
docollide.psb[0] = this;
docollide.psb[1] = psb;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
/* psb1 nodes vs psb0 faces */
if (this->m_tetras.size() > 0)
docollide.useFaceNormal = true;
else
docollide.useFaceNormal = false;
docollide.psb[0] = psb;
docollide.psb[1] = this;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
@@ -3723,6 +3731,10 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
psb->getCollisionShape()->getMargin();
docollide.psb[0] = this;
docollide.psb[1] = psb;
if (this->m_tetras.size() > 0)
docollide.useFaceNormal = true;
else
docollide.useFaceNormal = false;
/* psb0 faces vs psb0 faces */
btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root);
calculateNormalCone(root);