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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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9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -386,6 +386,15 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle
return 0;
}
B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, bool useSelfCollision)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_useSelfCollision = useSelfCollision;
command->m_updateFlags |= LOAD_SOFT_BODY_SET_SELF_COLLISION;
return 0;
}
B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -636,6 +636,7 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);
B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);
B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, bool useSelfCollision);
B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient);
B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings);

6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8144,6 +8144,12 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
psb->setCollisionFlags(0);
psb->setTotalMass(mass);
bool use_self_collision = false;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_USE_SELF_COLLISION)
{
use_self_collision = loadSoftBodyArgs.m_useSelfCollision;
}
psb->setSelfCollision(use_self_collision);
#else
btSoftBody::Material* pm = psb->appendMaterial();
pm->m_kLST = 0.5;

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -501,6 +501,7 @@ enum EnumLoadSoftBodyUpdateFlags
LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10,
LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11,
LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
LOAD_SOFT_BODY_SET_SELF_COLLISION = 1<<13,
};
enum EnumSimParamInternalSimFlags
@@ -525,6 +526,7 @@ struct LoadSoftBodyArgs
double m_corotatedLambda;
bool m_useBendingSprings;
double m_collisionHardness;
double m_useSelfCollision;
double m_frictionCoeff;
double m_NeoHookeanMu;
double m_NeoHookeanLambda;

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.