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collision with moving rigid body seems to be working. checking why there is side motion

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jingyuc
2021-08-30 13:19:33 -04:00
parent 3e76b11d46
commit b1803afbb9
10 changed files with 169 additions and 41 deletions
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41
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@@ -21,6 +21,9 @@
btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
{
{
// pair deformable body with solver body
pairDeformableAndSolverBody(bodies, numBodies, deformableBodies, numDeformableBodies, infoGlobal);
///this is a special step to resolve penetrations (just for contacts)
solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
@@ -89,6 +92,12 @@ void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollision
void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
{
// reduced soft body solver directly modifies the solver body
if (m_deformableSolver->isReducedSolver())
{
return;
}
for (int i = 0; i < numBodies; i++)
{
int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
@@ -105,6 +114,12 @@ void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject*
void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal)
{
// reduced soft body solver directly modifies the solver body
if (m_deformableSolver->isReducedSolver())
{
return;
}
for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
{
btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
@@ -116,6 +131,32 @@ void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactS
}
}
void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal)
{
if (!m_deformableSolver->isReducedSolver())
{
return;
}
for (int i = 0; i < numBodies; i++)
{
int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
btRigidBody* body = btRigidBody::upcast(bodies[i]);
if (body && body->getInvMass())
{
btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
m_deformableSolver->pairConstraintWithSolverBody(solverBody);
}
}
for (int i = 0; i < numDeformableBodies; ++i)
{
//
}
}
void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
{
BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");