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fix more places in btSoftBody that assume btRigidBody (it wasn't designed to support btCollisionObject/btGhostObject).

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Add another 'findActiveObject'
This commit is contained in:
erwin.coumans
2008-11-10 21:33:11 +00:00
parent 3c0ca0d931
commit 85341fee2a
4 changed files with 33 additions and 21 deletions
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27
src/BulletSoftBody/btSoftBody.cpp
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@@ -1728,21 +1728,22 @@ btVector3 btSoftBody::evaluateCom() const
}
//
bool btSoftBody::checkContact( btRigidBody* prb,
bool btSoftBody::checkContact( btCollisionObject* colObj,
const btVector3& x,
btScalar margin,
btSoftBody::sCti& cti) const
{
btVector3 nrm;
btCollisionShape* shp=prb->getCollisionShape();
const btTransform& wtr=prb->getInterpolationWorldTransform();
btCollisionShape* shp=colObj->getCollisionShape();
btRigidBody* tmpRigid = btRigidBody::upcast(colObj);
const btTransform& wtr=tmpRigid? tmpRigid->getInterpolationWorldTransform() : colObj->getWorldTransform();
btScalar dst=m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x),
shp,
nrm,
margin);
if(dst<0)
{
cti.m_body = prb;
cti.m_colObj = colObj;
cti.m_normal = wtr.getBasis()*nrm;
cti.m_offset = -dot( cti.m_normal,
x-cti.m_normal*dst);
@@ -2466,7 +2467,9 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti)
{
const RContact& c=psb->m_rcontacts[i];
const sCti& cti=c.m_cti;
const btVector3 va=cti.m_body->getVelocityInLocalPoint(c.m_c1)*dt;
btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
const btVector3 va=tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
const btVector3 vb=c.m_node->m_x-c.m_node->m_q;
const btVector3 vr=vb-va;
const btScalar dn=dot(vr,cti.m_normal);
@@ -2476,7 +2479,8 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti)
const btVector3 fv=vr-cti.m_normal*dn;
const btVector3 impulse=c.m_c0*((vr-fv*c.m_c3+cti.m_normal*(dp*c.m_c4))*kst);
c.m_node->m_x-=impulse*c.m_c2;
c.m_cti.m_body->applyImpulse(impulse,c.m_c1);
if (tmpRigid)
tmpRigid->applyImpulse(impulse,c.m_c1);
}
}
}
@@ -2577,9 +2581,10 @@ void btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
case fCollision::SDF_RS:
{
btSoftColliders::CollideSDF_RS docollide;
btRigidBody* prb=btRigidBody::upcast(pco);
const btTransform wtr=prb->getInterpolationWorldTransform();
const btTransform ctr=prb->getWorldTransform();
btRigidBody* prb1=btRigidBody::upcast(pco);
btTransform wtr=prb1 ? prb1->getInterpolationWorldTransform() : pco->getWorldTransform();
const btTransform ctr=pco->getWorldTransform();
const btScalar timemargin=(wtr.getOrigin()-ctr.getOrigin()).length();
const btScalar basemargin=getCollisionShape()->getMargin();
btVector3 mins;
@@ -2591,7 +2596,9 @@ void btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
volume=btDbvtVolume::FromMM(mins,maxs);
volume.Expand(btVector3(basemargin,basemargin,basemargin));
docollide.psb = this;
docollide.prb = prb;
docollide.m_colObj1 = pco;
docollide.m_rigidBody = prb1;
docollide.dynmargin = basemargin+timemargin;
docollide.stamargin = basemargin;
m_ndbvt.collideTV(m_ndbvt.m_root,volume,docollide);