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refactor to support both CG+projection and KKT

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This commit is contained in:
Xuchen Han
2020-04-15 17:46:01 -07:00
parent b3e23cfaa4
commit 165427de01
16 changed files with 313 additions and 285 deletions
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src/BulletSoftBody/btSoftBody.cpp
+11 -11
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@@ -220,7 +220,6 @@ void btSoftBody::initDefaults()
m_dampingCoefficient = 1.0;
m_sleepingThreshold = .4;
m_useSelfCollision = false;
m_usePostCollisionDamping = false;
m_collisionFlags = 0;
m_softSoftCollision = false;
}
@@ -4052,8 +4051,6 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
if (pcoWrap->getCollisionObject()->isActive() || this->isActive())
{
const btTransform wtr = pcoWrap->getWorldTransform();
// const btTransform ctr = pcoWrap->getWorldTransform();
// const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length();
const btScalar timemargin = 0;
const btScalar basemargin = getCollisionShape()->getMargin();
btVector3 mins;
@@ -4065,14 +4062,17 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
maxs);
volume = btDbvtVolume::FromMM(mins, maxs);
volume.Expand(btVector3(basemargin, basemargin, basemargin));
btSoftColliders::CollideSDF_RD docollideNode;
docollideNode.psb = this;
docollideNode.m_colObj1Wrap = pcoWrap;
docollideNode.m_rigidBody = prb1;
docollideNode.dynmargin = basemargin + timemargin;
docollideNode.stamargin = basemargin;
// m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode);
if (m_cfg.collisions & fCollision::SDF_RDN)
{
btSoftColliders::CollideSDF_RD docollideNode;
docollideNode.psb = this;
docollideNode.m_colObj1Wrap = pcoWrap;
docollideNode.m_rigidBody = prb1;
docollideNode.dynmargin = basemargin + timemargin;
docollideNode.stamargin = basemargin;
m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode);
}
if (((pcoWrap->getCollisionObject()->getInternalType() == CO_RIGID_BODY) && (m_cfg.collisions & fCollision::SDF_RDF)) || ((pcoWrap->getCollisionObject()->getInternalType() == CO_FEATHERSTONE_LINK) && (m_cfg.collisions & fCollision::SDF_MDF)))
{
btSoftColliders::CollideSDF_RDF docollideFace;