From fce12964139c8073676a50db0201c1460ad3fcad Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 13 Aug 2019 16:59:42 -0700 Subject: [PATCH] fix the issue that compound objects's child does not get rotated in the material space in interpolationWorldTransform --- .../CollisionDispatch/btCollisionObjectWrapper.h | 8 +++++++- .../CollisionDispatch/btCompoundCollisionAlgorithm.cpp | 2 +- src/BulletSoftBody/btSoftBody.cpp | 7 ++++--- 3 files changed, 12 insertions(+), 5 deletions(-) diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h index 1cc4a5ac5..56341b7d2 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h +++ b/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h @@ -27,13 +27,19 @@ public: const btCollisionShape* m_shape; const btCollisionObject* m_collisionObject; const btTransform& m_worldTransform; + const btTransform* m_preTransform; int m_partId; int m_index; btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index) - : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_partId(partId), m_index(index) + : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(NULL), m_partId(partId), m_index(index) { } + + btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, const btTransform& preTransform, int partId, int index) + : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(&preTransform), m_partId(partId), m_index(index) + { + } SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; } SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; } diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 633bee482..1bb21104c 100644 --- a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -139,7 +139,7 @@ public: if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1)) { - btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, -1, index); + btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index); btCollisionAlgorithm* algo = 0; bool allocatedAlgorithm = false; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index f65851dec..2da04d491 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -20,7 +20,7 @@ subject to the following restrictions: #include "LinearMath/btSerializer.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" - +#include // btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m) : m_softBodySolver(0), m_worldInfo(worldInfo) @@ -2301,8 +2301,9 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect // but resolve contact at x_n - const btTransform &wtr = (predict) ? tmpCollisionObj->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); - + btTransform wtr = (predict) ? + (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) + : colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x),