some more fixes for btSoftBody:

+ use btBroadphaseProxy::AllFilter to collide with static and dynamic rigidbodies in broadphase
+ enlarge aabb for softbody in broadphase, otherwise misses collisions (deformation is not updated in-time?)

Demos/SoftDemo/SoftDemo.cpp

@@ -252,12 +252,6 @@ void SoftDemo::clientMoveAndDisplay()
 
 #endif		
 
-		/* soft bodies	collision detection */ 
-		for(int ib=0;ib<m_softbodies.size();++ib)
-		{
-			btSoftBody*	psb=m_softbodies[ib];
-//			psb->updateAabb(dt);
-		}
 
 		/* soft bodies simulation */ 
 		for(int ib=0;ib<m_softbodies.size();++ib)
@@ -769,7 +763,7 @@ static void	Init_TorusMatch(SoftDemo* pdemo)
 
 }
 
-static unsigned	current_demo=0;
+static unsigned	current_demo=1;
 
 void	SoftDemo::clientResetScene()
 {
@@ -818,6 +812,7 @@ void	SoftDemo::clientResetScene()
 	m_softBodyWorldInfo.water_density	=	0;
 	m_softBodyWorldInfo.water_offset		=	0;
 	m_softBodyWorldInfo.water_normal		=	btVector3(0,0,0);
+	m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
 
 
 	m_autocam						=	false;
@@ -921,6 +916,8 @@ void	SoftDemo::initPhysics()
 
 	m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
 	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
+	m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
+
 
 
 
@@ -929,7 +926,7 @@ void	SoftDemo::initPhysics()
 
 	btTransform tr;
 	tr.setIdentity();
-	tr.setOrigin(btVector3(0,-20,0));
+	tr.setOrigin(btVector3(0,-12,0));
 
 
 

src/BulletDynamics/SoftBody/btSoftBody.cpp

@@ -71,8 +71,8 @@ btSoftBody::btSoftBody(btSoftBody::btSoftBodyWorldInfo&	worldInfo,int node_count
 		n.m_im		=	n.m_im>0?1/n.m_im:0;
 	}
 	updateTransform();
-	///register to the broadphase
+	///register to the broadphase
-	setBroadphaseHandle( m_worldInfo.m_broadphase->createProxy(m_bounds[0],m_bounds[1],SOFTBODY_SHAPE_PROXYTYPE,this,1,1,m_worldInfo.m_dispatcher,0));
+	setBroadphaseHandle( m_worldInfo.m_broadphase->createProxy(m_bounds[0],m_bounds[1],SOFTBODY_SHAPE_PROXYTYPE,this,btBroadphaseProxy::DefaultFilter,btBroadphaseProxy::AllFilter,m_worldInfo.m_dispatcher,0));
 
 
 }
@@ -80,8 +80,8 @@ btSoftBody::btSoftBody(btSoftBody::btSoftBodyWorldInfo&	worldInfo,int node_count
 ///destructor
 btSoftBody::~btSoftBody()
 {
-	//remove from broadphase
+	//remove from broadphase
-	m_worldInfo.m_broadphase->destroyProxy(getBroadphaseHandle(),m_worldInfo.m_dispatcher);
+	m_worldInfo.m_broadphase->destroyProxy(getBroadphaseHandle(),m_worldInfo.m_dispatcher);
 
 	///for now, delete the internal shape
 	delete m_softBodyCollisionShape;
@@ -124,7 +124,10 @@ void btSoftBody::updateBounds()
 
 		if (getBroadphaseHandle())
 		{
-			m_worldInfo.m_broadphase->setAabb(getBroadphaseHandle(),m_bounds[0],m_bounds[1],m_worldInfo.m_dispatcher);
+			///todo: figure out how much larger the aabb needs to be, based on motion?
+			btVector3 aabbMin = m_bounds[0]-btVector3(1,1,1);
+			btVector3 aabbMax = m_bounds[1]+btVector3(1,1,1);
+			m_worldInfo.m_broadphase->setAabb(getBroadphaseHandle(),aabbMin,aabbMax,m_worldInfo.m_dispatcher);
 		}
 
 	}
@@ -1228,30 +1231,53 @@ void			btSoftBody::Step(btScalar dt)
 }
 
 
-//
+//
-bool		btSoftBody::CheckContact(	const btVector3& x,
+bool		btSoftBody::CheckContact(	const btVector3& x,
-												 btSoftBody::sCti& cti)
+												 btSoftBody::sCti& cti)
-{
+{
-	btScalar					maxdepth=0;
+	btScalar					maxdepth=0;
-	btGjkEpaSolver2::sResults	res;
+	btGjkEpaSolver2::sResults	res;
-	for(int i=0,ni=m_overlappingRigidBodies.size();i<ni;++i)
+	for(int i=0,ni=m_overlappingRigidBodies.size();i<ni;++i)
-	{
+	{
-		btVector3			nrm;
+		btVector3			nrm;
-		btRigidBody*		prb=btRigidBody::upcast(m_overlappingRigidBodies[i]);
+		btRigidBody*		prb=btRigidBody::upcast(m_overlappingRigidBodies[i]);
-
+
-		btCollisionShape*	shp=prb->getCollisionShape();
+		btCollisionShape*	shp=prb->getCollisionShape();
-		btConvexShape*		csh=static_cast<btConvexShape*>(shp);
+		btAssert(shp->isConvex());
-		const btTransform&	wtr=prb->getWorldTransform();
+		btConvexShape*		csh=static_cast<btConvexShape*>(shp);
-		btScalar			dst=m_worldInfo.m_sparsesdf.Evaluate(wtr.invXform(x),csh,nrm);
+
-		nrm=wtr.getBasis()*nrm;
+		const btTransform&	wtr=prb->getWorldTransform();
-		btVector3			wit=x-nrm*dst;
+		btScalar			dst=m_worldInfo.m_sparsesdf.Evaluate(wtr.invXform(x),csh,nrm);
-		if(dst<maxdepth)
+		nrm=wtr.getBasis()*nrm;
-		{
+		btVector3			wit=x-nrm*dst;
-			maxdepth		=	dst;
+		if(dst<maxdepth)
-			cti.m_body		=	prb;
+		{
-			cti.m_normal	=	nrm;
+			maxdepth		=	dst;
-			cti.m_offset	=	-dot(cti.m_normal,wit);
+			cti.m_body		=	prb;
-		}
+			cti.m_normal	=	nrm;
-	}
+			cti.m_offset	=	-dot(cti.m_normal,wit);
-	return(maxdepth<0);
+		}
-}
+	}
+	return(maxdepth<0);
+}
+
+
+//
+void		btSoftBody::EvaluateMedium(	const btVector3& x,
+												   btSoftBody::sMedium& medium)
+{
+	medium.m_velocity	=	btVector3(0,0,0);
+	medium.m_pressure	=	0;
+	medium.m_density	=	m_worldInfo.air_density;
+	if(m_worldInfo.water_density>0)
+	{
+		const btScalar	depth=-(dot(x,m_worldInfo.water_normal)+m_worldInfo.water_offset);
+		if(depth>0)
+		{
+			medium.m_density	=	m_worldInfo.water_density;
+			medium.m_pressure	=	depth			*
+				m_worldInfo.water_density	*
+				m_worldInfo.m_gravity.length();
+		}
+	}
+}

src/BulletDynamics/SoftBody/btSoftBody.h

@@ -61,6 +61,7 @@ struct	btSoftBody : public btCollisionObject
 		btVector3	water_normal;	
 		btBroadphaseInterface*	m_broadphase;
 		btCollisionDispatcher*	m_dispatcher;
+		btVector3	m_gravity;
 
 		btSparseSdf<3>						m_sparsesdf;
 	};
@@ -93,7 +94,7 @@ struct	btSoftBody : public btCollisionObject
 		//??
 	}
 
-	//
+	//
 	bool		CheckContact(	const btVector3& x, btSoftBody::sCti& cti);
 	////
 
@@ -109,12 +110,7 @@ struct	btSoftBody : public btCollisionObject
 		btScalar		m_density;	/* Density				*/ 
 	};
 
-	virtual void		EvaluateMedium(	const btVector3& /*position*/, 	sMedium& medium)
+	virtual void		EvaluateMedium(	const btVector3& /*position*/, 	sMedium& medium);
-	{	
-		medium.m_velocity=btVector3(0,0,0);
-		medium.m_pressure=0;
-		medium.m_density=0; 
-	}