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author | Chuyuan Kelly Fu <fuchuyuan@google.com> | 2022-03-03 18:11:58 -0800 |
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committer | Chuyuan Kelly Fu <fuchuyuan@google.com> | 2022-03-03 18:11:58 -0800 |
commit | cf185a2d53e5ca384b70ed3e6faccfa00b42b522 (patch) | |
tree | 9002aa57dc237ead426139f08a6c75bf6bc7f6de | |
parent | c9fe6638f8df0a195d281d9ebeb1ccd2e0a50364 (diff) | |
download | bullet3-cf185a2d53e5ca384b70ed3e6faccfa00b42b522.tar.gz |
format files
-rw-r--r-- | examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 23 | ||||
-rw-r--r-- | src/BulletSoftBody/btDeformableBodySolver.cpp | 2 | ||||
-rw-r--r-- | src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp | 5 | ||||
-rw-r--r-- | src/BulletSoftBody/btSoftBody.h | 2 | ||||
-rw-r--r-- | src/BulletSoftBody/btSoftBodyInternals.h | 4 |
5 files changed, 19 insertions, 17 deletions
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index aa2db7288..d2386cb2a 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8134,11 +8134,11 @@ bool PhysicsServerCommandProcessor::processRequestDeformableDeformableContactpoi { return false; } - const int max_contacts_per_object = 4; - for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--) + 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]; + int num_contacts_reported = 0; + btSoftBody* psb = deformWorld->getSoftBodyArray()[i]; for (int c = 0; c < psb->m_faceNodeContacts.size(); c++) { const btSoftBody::DeformableFaceNodeContact* contact = &psb->m_faceNodeContacts[c]; @@ -8156,14 +8156,15 @@ 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 + 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; + 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; pt.m_contactFlags = 0; diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index 9b92df006..27f10a92f 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -411,7 +411,7 @@ void btDeformableBodySolver::predictMotion(btScalar solverdt) psb->m_nodeRigidContacts.resize(0); psb->m_faceRigidContacts.resize(0); psb->m_faceNodeContacts.resize(0); - psb->m_faceNodeContactsCCD.resize(0); + psb->m_faceNodeContactsCCD.resize(0); // predict motion for collision detection predictDeformableMotion(psb, solverdt); } diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp index 8b208d939..bc7b31273 100644 --- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp +++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -201,7 +201,7 @@ void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar tim if (psb->isActive()) { // clear contact points in the previous iteration - psb->m_faceNodeContactsCCD.clear(); + psb->m_faceNodeContactsCCD.clear(); // update m_q and normals for CCD calculation for (int j = 0; j < psb->m_nodes.size(); ++j) @@ -237,7 +237,8 @@ void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar tim btSoftBody* psb = m_softBodies[i]; if (psb->isActive()) { - penetration_count += psb->m_faceNodeContactsCCD.size();; + penetration_count += psb->m_faceNodeContactsCCD.size(); + ; } } if (penetration_count == 0) diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h index 45319f96e..bef3261f1 100644 --- a/src/BulletSoftBody/btSoftBody.h +++ b/src/BulletSoftBody/btSoftBody.h @@ -824,7 +824,7 @@ public: btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts; btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContacts; btAlignedObjectArray<DeformableFaceRigidContact> m_faceRigidContacts; - btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContactsCCD; + btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContactsCCD; tSContactArray m_scontacts; // Soft contacts tJointArray m_joints; // Joints tMaterialArray m_materials; // Materials diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h index be1a64b98..ec052a206 100644 --- a/src/BulletSoftBody/btSoftBodyInternals.h +++ b/src/BulletSoftBody/btSoftBodyInternals.h @@ -2053,7 +2053,7 @@ struct btSoftColliders c.m_imf = 0; c.m_c0 = 0; c.m_colObj = psb[1]; - psb[0]->m_faceNodeContactsCCD.push_back(c); + psb[0]->m_faceNodeContactsCCD.push_back(c); } } void Process(const btDbvntNode* lface1, @@ -2118,7 +2118,7 @@ struct btSoftColliders c.m_imf = 0; c.m_c0 = 0; c.m_colObj = psb[1]; - psb[0]->m_faceNodeContactsCCD.push_back(c); + psb[0]->m_faceNodeContactsCCD.push_back(c); } } } |