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limit num contacts reported. Add distance to Deformable Deformable contact

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This commit is contained in:
Chuyuan Kelly Fu
2022-03-03 18:05:50 -08:00
parent a8cf6008b7
commit c9fe6638f8
5 changed files with 13 additions and 4 deletions
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7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8134,8 +8134,10 @@ bool PhysicsServerCommandProcessor::processRequestDeformableDeformableContactpoi
{
return false;
}
const int max_contacts_per_object = 4;
for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
{
int num_contacts_reported = 0;
btSoftBody* psb = deformWorld->getSoftBodyArray()[i];
for (int c = 0; c < psb->m_faceNodeContacts.size(); c++)
{
@@ -8154,8 +8156,13 @@ bool PhysicsServerCommandProcessor::processRequestDeformableDeformableContactpoi
if(RequestFiltered(clientCmd, linkIndexA, linkIndexB, objectIndexA, objectIndexB, swap)==true){
continue;
}
if(++num_contacts_reported>max_contacts_per_object){
break;
}
//Convert contact info
b3ContactPointData pt;
btVector3 l = contact->m_node->m_x - BaryEval(contact->m_face->m_n[0]->m_x, contact->m_face->m_n[1]->m_x, contact->m_face->m_n[2]->m_x, contact->m_normal);
pt.m_contactDistance = -contact->m_margin + contact->m_normal.dot(l);
pt.m_bodyUniqueIdA = objectIndexA;
pt.m_bodyUniqueIdB = objectIndexB;
pt.m_contactDistance = 0;