diff options
Diffstat (limited to 'src/BulletSoftBody/btSoftBody.cpp')
| -rw-r--r-- | src/BulletSoftBody/btSoftBody.cpp | 32 |
1 files changed, 6 insertions, 26 deletions
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 90f39db20..cca065afd 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -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); |