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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'
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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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21
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -808,35 +808,38 @@ struct btSoftColliders
const btScalar m=n.m_im>0?dynmargin:stamargin;
btSoftBody::RContact c;
if( (!n.m_battach)&&
psb->checkContact(prb,n.m_x,m,c.m_cti))
psb->checkContact(m_colObj1,n.m_x,m,c.m_cti))
{
const btScalar ima=n.m_im;
const btScalar imb=prb->getInvMass();
const btScalar imb= m_rigidBody? m_rigidBody->getInvMass() : 0.f;
const btScalar ms=ima+imb;
if(ms>0)
{
const btTransform& wtr=prb->getInterpolationWorldTransform();
const btMatrix3x3& iwi=prb->getInvInertiaTensorWorld();
const btTransform& wtr=m_rigidBody?m_rigidBody->getInterpolationWorldTransform() : m_colObj1->getWorldTransform();
static const btMatrix3x3 iwiStatic(0,0,0,0,0,0,0,0,0);
const btMatrix3x3& iwi=m_rigidBody?m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
const btVector3 ra=n.m_x-wtr.getOrigin();
const btVector3 va=prb->getVelocityInLocalPoint(ra)*psb->m_sst.sdt;
const btVector3 va=m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra)*psb->m_sst.sdt : btVector3(0,0,0);
const btVector3 vb=n.m_x-n.m_q;
const btVector3 vr=vb-va;
const btScalar dn=dot(vr,c.m_cti.m_normal);
const btVector3 fv=vr-c.m_cti.m_normal*dn;
const btScalar fc=psb->m_cfg.kDF*prb->getFriction();
const btScalar fc=psb->m_cfg.kDF*m_colObj1->getFriction();
c.m_node = &n;
c.m_c0 = ImpulseMatrix(psb->m_sst.sdt,ima,imb,iwi,ra);
c.m_c1 = ra;
c.m_c2 = ima*psb->m_sst.sdt;
c.m_c3 = fv.length2()<(btFabs(dn)*fc)?0:1-fc;
c.m_c4 = prb->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
c.m_c4 = m_colObj1->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
psb->m_rcontacts.push_back(c);
prb->activate();
if (m_rigidBody)
m_rigidBody->activate();
}
}
}
btSoftBody* psb;
btRigidBody* prb;
btCollisionObject* m_colObj1;
btRigidBody* m_rigidBody;
btScalar dynmargin;
btScalar stamargin;
};