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BGE: ray casting works on soft body, the hit polygon is also returned. The modifications to Bullet have been reported to Bullet forum. Note: welding is completely disabled on soft body as it breaks the relationship between the soft body collision shape and the graphics mesh without bringing any additional stability (the reverse actually).

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This commit is contained in:
Benoit Bolsee
2009-11-28 17:30:34 +00:00
parent 38ba32a423
commit 1c4150f211
5 changed files with 46 additions and 2 deletions
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4
source/gameengine/Converter/BL_BlenderDataConversion.cpp
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@@ -1458,7 +1458,9 @@ void BL_CreatePhysicsObjectNew(KX_GameObject* gameobj,
objprop.m_soft_kAHR= blenderobject->bsoft->kAHR; /* Anchors hardness [0,1] */
objprop.m_soft_collisionflags= blenderobject->bsoft->collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */
objprop.m_soft_numclusteriterations= blenderobject->bsoft->numclusteriterations; /* number of iterations to refine collision clusters*/
objprop.m_soft_welding = blenderobject->bsoft->welding; /* welding */
//objprop.m_soft_welding = blenderobject->bsoft->welding; /* welding */
/* disable welding: it doesn't bring any additional stability and it breaks the relation between soft body collision shape and graphic mesh */
objprop.m_soft_welding = 0.f;
objprop.m_margin = blenderobject->bsoft->margin;
objprop.m_contactProcessingThreshold = 0.f;
} else

10
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@@ -1070,6 +1070,8 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallbac
rayCallback.m_hitTriangleIndex < shapeInfo->m_polygonIndexArray.size())
{
result.m_meshObject = shapeInfo->GetMesh();
// note for softbody: this assumes that the softbody shape uses the same triangle numbering
// than the triangle mesh shape that was used to build it
result.m_polygon = shapeInfo->m_polygonIndexArray.at(rayCallback.m_hitTriangleIndex);
// Bullet returns the normal from "outside".
@@ -1078,7 +1080,13 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallbac
{
// mesh shapes are shared and stored in the shapeInfo
btTriangleMeshShape* triangleShape = shapeInfo->GetMeshShape();
if (triangleShape)
if (shape->isSoftBody())
{
// we can get the real normal directly from the body
btSoftBody* softBody = static_cast<btSoftBody*>(rayCallback.m_collisionObject);
rayCallback.m_hitNormalWorld = softBody->m_faces[rayCallback.m_hitTriangleIndex].m_normal;
} else if (triangleShape)
{
// this code is copied from Bullet
btVector3 triangle[3];