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fix the issue that compound objects's child does not get rotated in the material space in interpolationWorldTransform

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This commit is contained in:
Xuchen Han
2019-08-13 16:59:42 -07:00
parent 07bf736aeb
commit fce1296413
3 changed files with 12 additions and 5 deletions
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7
src/BulletSoftBody/btSoftBody.cpp
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@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "LinearMath/btSerializer.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include <iostream>
//
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),