Revision: 16756
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=16756
Author: erwin
Date: 2008-09-26 23:49:26 +0200 (Fri, 26 Sep 2008)
Log Message:
-----------
fixed soft body collision against concave triangle meshes.
Modified Paths:
--------------
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
Modified:
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
===================================================================
---
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
2008-09-26 21:27:33 UTC (rev 16755)
+++
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
2008-09-26 21:49:26 UTC (rev 16756)
@@ -32,7 +32,7 @@
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletSoftBody/btSoftBody.h"
-#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.3)
+#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable
btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm(
const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject*
body0,btCollisionObject* body1,bool isSwapped)
: btCollisionAlgorithm(ci),
@@ -210,44 +210,22 @@
void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar
collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult*
resultOut)
{
m_dispatchInfoPtr = &dispatchInfo;
- m_collisionMarginTriangle = collisionMarginTriangle;
+ m_collisionMarginTriangle =
collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
m_resultOut = resultOut;
- //recalc aabbs
-// btTransform softbodyInTriangleSpace;
-// softbodyInTriangleSpace = m_triBody->getWorldTransform().inverse() *
m_softBody->getWorldTransform();
-// btCollisionShape* convexShape =
static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
- //CollisionShape* triangleShape =
static_cast<btCollisionShape*>(triBody->m_collisionShape);
+
btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax;
m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
-
btVector3 halfExtents =
(aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5);
btVector3 softBodyCenter =
(aabbWorldSpaceMax+aabbWorldSpaceMin)*btScalar(0.5);
- btTransform triInverse = m_triBody->getWorldTransform().inverse();
+ btTransform softTransform;
+ softTransform.setIdentity();
+ softTransform.setOrigin(softBodyCenter);
- btMatrix3x3 abs_b = triInverse.getBasis().absolute();
- btPoint3 center = softBodyCenter + triInverse.getOrigin();
-
- btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
- abs_b[1].dot(halfExtents),
- abs_b[2].dot(halfExtents));
-// extent += btVector3(getMargin(),getMargin(),getMargin());
-
- m_aabbMin = center - extent;
- m_aabbMax = center + extent;
-
- btScalar extraMargin =
collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
- btVector3 extra(extraMargin,extraMargin,extraMargin);
-
- m_aabbMax += extra;
- m_aabbMin -= extra;
-
-/* btVector3 extra(2,2,2);
- m_aabbMin = aabbWorldSpaceMin-extra;
- m_aabbMax = aabbWorldSpaceMax+extra;
-*/
-
+ btTransform convexInTriangleSpace;
+ convexInTriangleSpace = m_triBody->getWorldTransform().inverse() *
softTransform;
+
btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax);
}
void btSoftBodyConcaveCollisionAlgorithm::clearCache()
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