From bbcb74235011bdabac16a69b872a7b55947fe8a8 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@gmail.com>
Date: Mon, 28 Jan 2019 17:12:05 +0100
Subject: [PATCH] Support concave object collisions if the object is not
dynamic
---
.../BulletEngine/BulletObject.cpp | 40 ++++++++++++-------
.../BulletEngine/BulletObject.h | 3 +-
2 files changed, 27 insertions(+), 16 deletions(-)
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
index 95a6633ac..c8bc7f3d5 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
@@ -208,11 +208,11 @@ namespace SimDynamics
return result;
}
- btConvexHullShape* BulletObject::createConvexHullShape(VirtualRobot::TriMeshModelPtr trimesh)
+ btCollisionShape* BulletObject::createConvexHullShape(VirtualRobot::TriMeshModelPtr trimesh)
{
VR_ASSERT(trimesh);
// create triangle shape
- btTriangleMesh* btTrimesh = new btTriangleMesh();
+ btTrimesh.reset(new btTriangleMesh());
//com = trimesh->getCOM();
@@ -247,25 +247,35 @@ namespace SimDynamics
Eigen::Matrix4f comConv = sceneObject->getGlobalPoseVisualization() * comLoc;
com = comConv.block(0,3,3,1);*/
- // build convex hull
- boost::shared_ptr<btConvexShape> btConvexShape(new btConvexTriangleMeshShape(btTrimesh));
- btConvexShape->setMargin(btMargin);
- boost::shared_ptr<btShapeHull> btHull(new btShapeHull(btConvexShape.get()));
- btHull->buildHull(btMargin);
- btConvexHullShape* btConvex = new btConvexHullShape();
- btConvex->setLocalScaling(btVector3(1, 1, 1));
- for (int i = 0; i < btHull->numVertices(); i++)
+ if (sceneObject->getSimulationType() == VirtualRobot::SceneObject::Physics::eKinematic)
{
- btConvex->addPoint(btHull->getVertexPointer()[i]);
+ // Support concave objects if they are not dynamic
+ return new btBvhTriangleMeshShape(btTrimesh.get(), false);
}
+ else
+ {
+ // build convex hull
+ boost::shared_ptr<btConvexShape> btConvexShape(new btConvexTriangleMeshShape(btTrimesh.get()));
+ btConvexShape->setMargin(btMargin);
- btConvex->setMargin(btMargin);
+ boost::shared_ptr<btShapeHull> btHull(new btShapeHull(btConvexShape.get()));
+ btHull->buildHull(btMargin);
+ btConvexHullShape* btConvex = new btConvexHullShape();
+ btConvex->setLocalScaling(btVector3(1, 1, 1));
- // trimesh not needed any more
- delete btTrimesh;
- return btConvex;
+ for (int i = 0; i < btHull->numVertices(); i++)
+ {
+ btConvex->addPoint(btHull->getVertexPointer()[i]);
+ }
+
+ btConvex->setMargin(btMargin);
+
+ // Trimesh no longer needed
+ btTrimesh.reset();
+ return btConvex;
+ }
}
boost::shared_ptr<btRigidBody> BulletObject::getRigidBody()
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.h b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.h
index 4d751dafa..adebc0e6b 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.h
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.h
@@ -100,10 +100,11 @@ namespace SimDynamics
void setPoseIntern(const Eigen::Matrix4f& pose);
btCollisionShape* getShapeFromPrimitive(VirtualRobot::Primitive::PrimitivePtr primitive);
- btConvexHullShape* createConvexHullShape(VirtualRobot::TriMeshModelPtr trimesh);
+ btCollisionShape* createConvexHullShape(VirtualRobot::TriMeshModelPtr trimesh);
boost::shared_ptr<btRigidBody> rigidBody;
boost::shared_ptr<btCollisionShape> collisionShape; // bullet collision shape
+ std::unique_ptr<btTriangleMesh> btTrimesh;
Eigen::Vector3f com; // com offset of trimesh
--
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