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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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8
src/BulletSoftBody/btSoftBody.cpp
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@@ -2270,12 +2270,10 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap,
{
btVector3 nrm;
const btCollisionShape* shp = colObjWrap->getCollisionShape();
const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject());
const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject();
// get the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg
const btTransform &wtr = (tmpRigid&&predict) ? tmpRigid->getInterpolationWorldTransform() : colObjWrap->getWorldTransform();
// const btTransform &wtr = predict ? colObjWrap->getInterpolationWorldTransform() : colObjWrap->getWorldTransform();
// TODO: get the correct transform for multibody
const btTransform &wtr = (predict) ? tmpCollisionObj->getInterpolationWorldTransform() : colObjWrap->getWorldTransform();
// const btTransform &wtr = colObjWrap->getWorldTransform();
btScalar dst =
m_worldInfo->m_sparsesdf.Evaluate(