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fix bugs in poststablize and projection of colinear constraints

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This commit is contained in:
Xuchen Han
2019-07-15 10:48:20 -07:00
parent ac628f4d39
commit bac7d461c5
5 changed files with 89 additions and 69 deletions
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60
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -869,35 +869,37 @@ struct btSoftColliders
const btScalar m = n.m_im > 0 ? dynmargin : stamargin;
btSoftBody::RContact c;
if ((!n.m_battach) &&
psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti))
{
const btScalar ima = n.m_im;
const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
const btScalar ms = ima + imb;
if (ms > 0)
{
const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->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_q - wtr.getOrigin();
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 = btDot(vr, c.m_cti.m_normal);
const btVector3 fv = vr - c.m_cti.m_normal * dn;
const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->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() < (dn * fc * dn * fc) ? 0 : 1 - fc;
c.m_c3 = fc;
c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR;
psb->m_rcontacts.push_back(c);
if (m_rigidBody)
m_rigidBody->activate();
}
if (!n.m_battach)
{
if (psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti))
{
const btScalar ima = n.m_im;
const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
const btScalar ms = ima + imb;
if (ms > 0)
{
const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->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 = 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 = btDot(vr, c.m_cti.m_normal);
const btVector3 fv = vr - c.m_cti.m_normal * dn;
const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->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() < (dn * fc * dn * fc) ? 0 : 1 - fc;
c.m_c3 = fc;
c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR;
psb->m_rcontacts.push_back(c);
if (m_rigidBody)
m_rigidBody->activate();
}
}
}
}
btSoftBody* psb;