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more work on soft body versus concave trimesh

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This commit is contained in:
erwin.coumans
2008-05-23 18:50:41 +00:00
parent 561066af75
commit a1578accac
2 changed files with 104 additions and 28 deletions
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126
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
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@@ -23,6 +23,11 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletSoftBody/btSoftBody.h"
@@ -69,23 +74,34 @@ void btSoftBodyTriangleCallback::clearCache()
};
static const int maxParts = 1;
static const int maxTriangleIndex = 100*100;
btCollisionShape* shapeCache[maxParts][maxTriangleIndex];
void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
{
static bool hackedFirst = true;
if (hackedFirst)
{
hackedFirst = false;
int i,j;
for (i=0;i<maxParts;i++)
{
for (j=0;j<maxTriangleIndex;j++)
{
shapeCache[i][j]=0;
}
}
}
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
//aabb filter is already applied!
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
{
@@ -103,32 +119,87 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
}
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
// if (m_softBody->getCollisionShape()->getShapeType()==
if (shapeCache[partId][triangleIndex])
{
btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
tm.setMargin(m_collisionMarginTriangle);
btCollisionShape* tm = shapeCache[partId][triangleIndex];
btCollisionShape* tmpShape = ob->getCollisionShape();
//copy over user pointers to temporary shape
tm.setUserPointer(tmpShape->getUserPointer());
tm->setUserPointer(tmpShape->getUserPointer());
ob->setCollisionShape( &tm );
ob->setCollisionShape( tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,m_manifoldPtr);
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
//m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
ob->setCollisionShape( tmpShape );
return;
}
//aabb filter is already applied!
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
// if (m_softBody->getCollisionShape()->getShapeType()==
{
// btVector3 other;
btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
normal.normalize();
normal*= 0.3f;
// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
// other+=normal*22.f;
btVector3 pts[6] = {triangle[0]+normal,
triangle[1]+normal,
triangle[2]+normal,
triangle[0]-normal,
triangle[1]-normal,
triangle[2]-normal};
btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6);
// btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
// tm.setMargin(m_collisionMarginTriangle);
btCollisionShape* tmpShape = ob->getCollisionShape();
//copy over user pointers to temporary shape
tm->setUserPointer(tmpShape->getUserPointer());
ob->setCollisionShape( tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
//m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
ob->setCollisionShape( tmpShape );
// delete tm;
shapeCache[partId][triangleIndex] = tm;
}
@@ -165,9 +236,8 @@ void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin
abs_b[2].dot(halfExtents));
// extent += btVector3(getMargin(),getMargin(),getMargin());
btVector3 aabbMin,aabbMax;
aabbMin = center - extent;
aabbMax = center + extent;
m_aabbMin = center - extent;
m_aabbMax = center + extent;
btScalar extraMargin = collisionMarginTriangle;
btVector3 extra(extraMargin,extraMargin,extraMargin);
@@ -175,6 +245,11 @@ void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin
m_aabbMax += extra;
m_aabbMin -= extra;
/* btVector3 extra(2,2,2);
m_aabbMin = aabbWorldSpaceMin-extra;
m_aabbMax = aabbWorldSpaceMax+extra;
*/
}
void btSoftBodyConcaveCollisionAlgorithm::clearCache()
@@ -197,21 +272,22 @@ void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* b
btCollisionObject* triOb = triBody;
btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
if (convexBody->getCollisionShape()->isConvex())
// if (convexBody->getCollisionShape()->isConvex())
{
btScalar collisionMarginTriangle = concaveShape->getMargin();
resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
//m_dispatcher->clearManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
// m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
resultOut->refreshContactPoints();
// resultOut->refreshContactPoints();
}

2
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
View File

@@ -44,7 +44,7 @@ class btSoftBodyTriangleCallback : public btTriangleCallback
public:
int m_triangleCount;
btPersistentManifold* m_manifoldPtr;
// btPersistentManifold* m_manifoldPtr;
btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);