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add option to turn self-collision on/off

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This commit is contained in:
Xuchen Han
2019-10-04 17:53:53 -07:00
committed by Xuchen Han
parent 4220c7f94c
commit e13578fee3
6 changed files with 44 additions and 10 deletions
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33
src/BulletSoftBody/btSoftBody.cpp
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@@ -3378,6 +3378,16 @@ btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver)
return (0);
}
void btSoftBody::setSelfCollision(bool useSelfCollision)
{
m_useSelfCollision = useSelfCollision;
}
bool btSoftBody::useSelfCollision()
{
return m_useSelfCollision;
}
//
void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap)
{
@@ -3563,16 +3573,19 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
}
else
{
btSoftColliders::CollideFF_DD docollide;
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
docollide.psb[0] = this;
docollide.psb[1] = psb;
/* psb0 faces vs psb0 faces */
btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root);
calculateNormalCone(root);
this->m_fdbvt.selfCollideT(root,docollide);
delete root;
if (psb->useSelfCollision())
{
btSoftColliders::CollideFF_DD docollide;
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
docollide.psb[0] = this;
docollide.psb[1] = psb;
/* 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 */

3
src/BulletSoftBody/btSoftBody.h
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@@ -790,6 +790,7 @@ public:
btAlignedObjectArray<btVector4> m_renderNodesInterpolationWeights;
btAlignedObjectArray<btAlignedObjectArray<const btSoftBody::Node*> > m_renderNodesParents;
bool m_useSelfCollision;
btAlignedObjectArray<bool> m_clusterConnectivity; //cluster connectivity, for self-collision
@@ -1006,6 +1007,8 @@ public:
/* defaultCollisionHandlers */
void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap);
void defaultCollisionHandler(btSoftBody* psb);
void setSelfCollision(bool useSelfCollision);
bool useSelfCollision();
//
// Functionality to deal with new accelerated solvers.