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fix bug in the pretransform of rigid body interpolation transform

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This commit is contained in:
Xuchen Han
2019-12-30 10:55:30 -08:00
parent 442047a862
commit a808d74895
2 changed files with 6 additions and 3 deletions
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7
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -139,7 +139,12 @@ public:
if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1)) if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
{ {
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index); btTransform preTransform = childTrans;
if (this->m_compoundColObjWrap->m_preTransform)
{
preTransform = preTransform *(*(this->m_compoundColObjWrap->m_preTransform));
}
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, preTransform, -1, index);
btCollisionAlgorithm* algo = 0; btCollisionAlgorithm* algo = 0;
bool allocatedAlgorithm = false; bool allocatedAlgorithm = false;

2
src/BulletSoftBody/btSoftBody.cpp
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@@ -2407,7 +2407,6 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr
btTransform wtr = (predict) ? btTransform wtr = (predict) ?
(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
: colObjWrap->getWorldTransform(); : colObjWrap->getWorldTransform();
// const btTransform& wtr = colObjWrap->getWorldTransform();
btScalar dst = btScalar dst =
m_worldInfo->m_sparsesdf.Evaluate( m_worldInfo->m_sparsesdf.Evaluate(
wtr.invXform(x), wtr.invXform(x),
@@ -2458,7 +2457,6 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
btTransform wtr = (predict) ? btTransform wtr = (predict) ?
(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
: colObjWrap->getWorldTransform(); : colObjWrap->getWorldTransform();
// const btTransform& wtr = colObjWrap->getWorldTransform();
btScalar dst; btScalar dst;
#define USE_QUADRATURE 1 #define USE_QUADRATURE 1