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clean up code

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This commit is contained in:
Chuyuan Fu
2020-08-12 10:13:49 -07:00
parent c5fc913293
commit 25aa0f5669
8 changed files with 23 additions and 205 deletions
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32
src/BulletSoftBody/btSoftBody.cpp
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@@ -2860,6 +2860,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
}
#endif
// collision detection using x*
btTransform triangle_transform;
triangle_transform.setIdentity();
triangle_transform.setOrigin(f.m_n[0]->m_q);
@@ -2871,7 +2872,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
if (dst >= 0)
return false;
// use the contact position of the previous collision
// Use consistent barycenter to recalculate distance.
#ifdef CACHE_PREV_COLLISION
if (f.m_pcontact[3] != 0)
{
@@ -2881,37 +2882,22 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
const btConvexShape* csh = static_cast<const btConvexShape*>(shp);
btGjkEpaSolver2::SignedDistance(contact_point, margin, csh, wtr,results);
cti.m_colObj = colObjWrap->getCollisionObject();
// std::cout<<"****** distance1 "<<results.distance<<std::endl;
// std::cout<<"normal "<<results.normal[0]<<" "<<results.normal[1]<<" "<<results.normal[2]<<std::endl;
// std::cout<<"point is at "<<contact_point[0]<<" "<<contact_point[1]<<" "<<contact_point[2]<<std::endl;
// std::cout<<"three vertices: "<<std::endl;
// std::cout<<f.m_n[0]->m_x[0]<<" "<<f.m_n[0]->m_x[1]<<" "<<f.m_n[0]->m_x[2]<<" "<<std::endl;
// std::cout<<f.m_n[1]->m_x[0]<<" "<<f.m_n[1]->m_x[1]<<" "<<f.m_n[1]->m_x[2]<<" "<<std::endl;
// std::cout<<f.m_n[2]->m_x[0]<<" "<<f.m_n[2]->m_x[1]<<" "<<f.m_n[2]->m_x[2]<<" "<<std::endl;
dst = results.distance;
cti.m_normal = results.normal;
cti.m_offset = dst;
// use face contact to redo collision detection
//point-convex CD
wtr = colObjWrap->getWorldTransform();
btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
triangle_transform.setOrigin(f.m_n[0]->m_x);
btGjkEpaSolver2::SignedDistance(&triangle2, triangle_transform, csh, wtr, guess, results);
dst = results.distance - csh->getMargin() - margin;
// std::cout<<"contact point 1 "<<results.witnesses[0][0]<< " "<<results.witnesses[0][1]<< " "<<results.witnesses[0][2]<< " "<<std::endl;
// std::cout<<"contact point 2 "<<results.witnesses[1][0]<< " "<<results.witnesses[1][1]<< " "<<results.witnesses[1][2]<< " "<<std::endl;
// std::cout<<"result distance "<<results.distance<<std::endl;
// std::cout<< csh->getMargin() <<" "<<margin<<std::endl;
// std::cout<<"****** distance 2"<<dst<<std::endl;
// std::cout<<"normal "<< results.normal[0]<< " "<<results.normal[1]<< " "<<results.normal[2]<<std::endl;
return true;
}
#endif
//
// Use triangle-convex CD.
wtr = colObjWrap->getWorldTransform();
btTriangleShape triangle2(btVector3(0, 0, 0), f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
triangle_transform.setOrigin(f.m_n[0]->m_x);
@@ -2923,18 +2909,12 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
f.m_pcontact[i] = bary[i];
dst = results.distance - csh->getMargin() - margin;
// std::cout<<"contact point 1 "<<contact_point[0]<< " "<<contact_point[1]<< " "<<contact_point[2]<< " "<<std::endl;
// std::cout<<"contact point 2 "<<results.witnesses[1][0]<< " "<<results.witnesses[1][1]<< " "<<results.witnesses[1][2]<< " "<<std::endl;
// std::cout<<"result distance "<<results.distance<<std::endl;
// std::cout<< csh->getMargin() <<" "<<margin<<std::endl;
// std::cout<<"distance "<<dst<<std::endl;
cti.m_colObj = colObjWrap->getCollisionObject();
cti.m_normal = results.normal;
cti.m_offset = dst;
return true;
}
//
void btSoftBody::updateNormals()
{
const btVector3 zv(0, 0, 0);