Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

pybullet.createSoftBodyAnchor

Browse Source
This commit is contained in:
Erwin Coumans
2019-11-19 19:20:08 -08:00
parent 431a71ebad
commit 96deb42aa5
12 changed files with 370 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -2496,7 +2496,8 @@ void btSoftBody::updateNormals()
btSoftBody::Face& f = m_faces[i];
const btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x,
f.m_n[2]->m_x - f.m_n[0]->m_x);
f.m_normal = n.normalized();
f.m_normal = n;
f.m_normal.safeNormalize();
f.m_n[0]->m_n += n;
f.m_n[1]->m_n += n;
f.m_n[2]->m_n += n;
@@ -3306,7 +3307,10 @@ void btSoftBody::interpolateRenderMesh()
n.m_x.setZero();
for (int j = 0; j < 4; ++j)
{
n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j];
if (m_renderNodesParents[i].size())
{
n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j];
}
}
}
}

37
src/BulletSoftBody/btSoftBodyHelpers.cpp
View File

@@ -1500,43 +1500,6 @@ void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector
bary = btVector4(va6*v6, vb6*v6, vc6*v6, vd6*v6);
}
void btSoftBodyHelpers::readRenderMeshFromObj(const char* file, btSoftBody* psb)
{
std::ifstream fs;
fs.open(file);
std::string line;
btVector3 pos;
while (std::getline(fs, line))
{
std::stringstream ss(line);
if (line.length()>1)
{
if (line[0] == 'v' && line[1] != 't' && line[1] != 'n')
{
ss.ignore();
for (size_t i = 0; i < 3; i++)
ss >> pos[i];
btSoftBody::Node n;
n.m_x = pos;
psb->m_renderNodes.push_back(n);
}
else if (line[0] == 'f')
{
ss.ignore();
int id0, id1, id2;
ss >> id0;
ss >> id1;
ss >> id2;
btSoftBody::Face f;
f.m_n[0] = &psb->m_renderNodes[id0-1];
f.m_n[1] = &psb->m_renderNodes[id1-1];
f.m_n[2] = &psb->m_renderNodes[id2-1];
psb->m_renderFaces.push_back(f);
}
}
}
fs.close();
}
// Iterate through all render nodes to find the simulation tetrahedron that contains the render node and record the barycentric weights
// If the node is not inside any tetrahedron, assign it to the tetrahedron in which the node has the least negative barycentric weight

2
src/BulletSoftBody/btSoftBodyHelpers.h
View File

@@ -148,8 +148,6 @@ struct btSoftBodyHelpers
static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary);
static void readRenderMeshFromObj(const char* file, btSoftBody* psb);
static void interpolateBarycentricWeights(btSoftBody* psb);
static void generateBoundaryFaces(btSoftBody* psb);

2
src/BulletSoftBody/btSparseSDF.h
View File

@@ -274,7 +274,7 @@ struct btSparseSdf
Lerp(gy[2], gy[3], ix.f), iz.f));
normal.setZ(Lerp(Lerp(gz[0], gz[1], ix.f),
Lerp(gz[2], gz[3], ix.f), iy.f));
normal = normal.normalized();
normal.safeNormalize();
#else
normal = btVector3(d[1] - d[0], d[3] - d[0], d[4] - d[0]).normalized();
#endif