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add multibody interpolation transform so that collision detection is consistent with rigidbody

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This commit is contained in:
Xuchen Han
2019-07-31 20:40:22 -07:00
parent ec403f790d
commit f1e7ce9ce1
10 changed files with 196 additions and 46 deletions
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22
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -33,6 +33,12 @@ void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body)
m_multiBodies.remove(body);
}
void btMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
integrateMultiBodyTransforms(timeStep, /*predict = */ true);
}
void btMultiBodyDynamicsWorld::calculateSimulationIslands()
{
BT_PROFILE("calculateSimulationIslands");
@@ -778,8 +784,11 @@ void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverIn
void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
{
btDiscreteDynamicsWorld::integrateTransforms(timeStep);
integrateMultiBodyTransforms(timeStep);
}
{
void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep, bool predict)
{
BT_PROFILE("btMultiBody stepPositions");
//integrate and update the Featherstone hierarchies
@@ -802,7 +811,7 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
int nLinks = bod->getNumLinks();
///base + num m_links
if (!predict)
{
if (!bod->isPosUpdated())
bod->stepPositionsMultiDof(timeStep);
@@ -815,18 +824,21 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
bod->setPosUpdated(false);
}
}
else
bod->predictPositionsMultiDof(timeStep);
m_scratch_world_to_local.resize(nLinks + 1);
m_scratch_local_origin.resize(nLinks + 1);
bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin);
if (predict)
bod->updateCollisionObjectInterpolationWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin);
else
bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin);
}
else
{
bod->clearVelocities();
}
}
}
}
void btMultiBodyDynamicsWorld::addMultiBodyConstraint(btMultiBodyConstraint* constraint)