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add normal cone optimization for self-collision

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This commit is contained in:
Xuchen Han
2019-09-25 14:48:52 -07:00
parent 657a7468b3
commit cb46440e17
7 changed files with 303 additions and 16 deletions
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70
src/BulletSoftBody/btSoftBody.cpp
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@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "BulletSoftBody/btSoftBodySolvers.h"
#include "btSoftBodyData.h"
#include "LinearMath/btSerializer.h"
#include "LinearMath/btAlignedAllocator.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
@@ -3453,9 +3454,55 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
}
}
static inline btDbvntNode* copyToDbvnt(const btDbvtNode* n)
{
if (n == 0)
return 0;
btDbvntNode* root = new btDbvntNode(n);
if (n->isinternal())
{
btDbvntNode* c0 = copyToDbvnt(n->childs[0]);
root->childs[0] = c0;
btDbvntNode* c1 = copyToDbvnt(n->childs[1]);
root->childs[1] = c1;
}
return root;
}
static inline void calculateNormalCone(btDbvntNode* root)
{
if (!root)
return;
if (root->isleaf())
{
const btSoftBody::Face* face = (btSoftBody::Face*)root->data;
root->normal = face->m_normal;
root->angle = 0;
}
else
{
btVector3 n0(0,0,0), n1(0,0,0);
btScalar a0 = 0, a1 = 0;
if (root->childs[0])
{
calculateNormalCone(root->childs[0]);
n0 = root->childs[0]->normal;
a0 = root->childs[0]->angle;
}
if (root->childs[1])
{
calculateNormalCone(root->childs[1]);
n1 = root->childs[1]->normal;
a1 = root->childs[1]->angle;
}
root->normal = (n0+n1).safeNormalize();
root->angle = btMax(a0,a1) + btAngle(n0, n1)*0.5;
}
}
//
void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
{
BT_PROFILE("Deformable Collision");
const int cf = m_cfg.collisions & psb->m_cfg.collisions;
switch (cf & fCollision::SVSmask)
{
@@ -3495,7 +3542,6 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
break;
case fCollision::VF_DD:
{
// self-collision not supported yet
if (this != psb)
{
btSoftColliders::CollideVF_DD docollide;
@@ -3517,15 +3563,27 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
}
else
{
btSoftColliders::CollideVF_DD docollide;
btSoftColliders::CollideFF_DD docollide;
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
/* psb0 nodes vs psb0 faces */
docollide.psb[0] = this;
docollide.psb[1] = psb;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
/* psb0 faces vs psb0 faces */
btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root);
calculateNormalCone(root);
this->m_fdbvt.selfCollideT(root,docollide);
delete root;
// btSoftColliders::CollideFF_DD docollide;
// /* common */
// docollide.mrg = getCollisionShape()->getMargin() +
// psb->getCollisionShape()->getMargin();
// /* psb0 nodes vs psb1 faces */
// docollide.psb[0] = this;
// docollide.psb[1] = psb;
// docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_fdbvt.m_root,
// docollide.psb[1]->m_fdbvt.m_root,
// docollide);
}
}
break;