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finished refactoring; start adding face contact

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This commit is contained in:
Xuchen Han
2019-08-30 14:16:56 -07:00
parent f813cb1c88
commit f99cf56149
16 changed files with 937 additions and 355 deletions
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40
src/BulletSoftBody/btSoftBody.h
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@@ -161,6 +161,7 @@ public:
SDF_RS = 0x0001, ///SDF based rigid vs soft
CL_RS = 0x0002, ///Cluster vs convex rigid vs soft
SDF_RD = 0x0003, ///DF based rigid vs deformable
SDF_RDF = 0x0004, ///DF based rigid vs deformable faces
SVSmask = 0x0030, ///Rigid versus soft mask
VF_SS = 0x0010, ///Vertex vs face soft vs soft handling
@@ -217,6 +218,7 @@ public:
const btCollisionObject* m_colObj; /* Rigid body */
btVector3 m_normal; /* Outward normal */
btScalar m_offset; /* Offset from origin */
btVector3 m_bary; /* Barycentric weights for faces */
};
/* sMedium */
@@ -283,6 +285,7 @@ public:
btVector3 m_normal; // Normal
btScalar m_ra; // Rest area
btDbvtNode* m_leaf; // Leaf data
int m_index;
};
/* Tetra */
struct Tetra : Feature
@@ -315,6 +318,40 @@ public:
btVector3 t1;
btVector3 t2;
};
class DeformableRigidContact
{
public:
sCti m_cti; // Contact infos
btMatrix3x3 m_c0; // Impulse matrix
btVector3 m_c1; // Relative anchor
btScalar m_c2; // inverse mass of node/face
btScalar m_c3; // Friction
btScalar m_c4; // Hardness
// jacobians and unit impulse responses for multibody
btMultiBodyJacobianData jacobianData_normal;
btMultiBodyJacobianData jacobianData_t1;
btMultiBodyJacobianData jacobianData_t2;
btVector3 t1;
btVector3 t2;
};
class DeformableNodeRigidContact : public DeformableRigidContact
{
public:
Node* m_node; // Owner node
};
class DeformableFaceRigidContact : public DeformableRigidContact
{
public:
Face* m_face; // Owner face
btVector3 m_contactPoint; // Contact point
btVector3 m_bary; // Barycentric weights
btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v;
};
/* SContact */
struct SContact
{
@@ -710,6 +747,8 @@ public:
tTetraArray m_tetras; // Tetras
tAnchorArray m_anchors; // Anchors
tRContactArray m_rcontacts; // Rigid contacts
btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts;
btAlignedObjectArray<DeformableFaceRigidContact> m_faceRigidContacts;
tSContactArray m_scontacts; // Soft contacts
tJointArray m_joints; // Joints
tMaterialArray m_materials; // Materials
@@ -1017,6 +1056,7 @@ public:
void initializeFaceTree();
btVector3 evaluateCom() const;
bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const;
bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, const Face& x, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const;
bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const;
void updateNormals();
void updateBounds();