Help:Rigid / Soft body collisions missed (They pass through)

[Garibalde]

I am working on simulating a soft body and rigid body collision. My setup is a flatplane surface
on which i drop a rigid body followed by a soft body. The soft body passes through both the rigid body and the flatplane.

here is the creation of the soft body.

Code: Select all

ObjData->mObjSoftBody->create(	MyEntity, 
										MyMeshData.vertex_count, 
										MyMeshData.vertices,
										MyMeshData.index_count,
										(unsigned int*)MyMeshData.indices);

		//btVector3 vec((float)ObjData->AxisScaling[0], (float)ObjData->AxisScaling[1], (float)ObjData->AxisScaling[2]);
		//ObjData->mObjSoftBody->mSoftBody->scale(vec);

		btSoftBody::Material* pm = ObjData->mObjSoftBody->mSoftBody->appendMaterial();
		pm->m_flags				-=	btSoftBody::fMaterial::DebugDraw;
		pm->m_kLST				=	1.0;
		ObjData->mObjSoftBody->mSoftBody->generateBendingConstraints(2,pm);
		ObjData->mObjSoftBody->mSoftBody->m_cfg.piterations	=	2;
		ObjData->mObjSoftBody->mSoftBody->m_cfg.kDF			=	1.0;
		ObjData->mObjSoftBody->mSoftBody->m_cfg.kSRHR_CL	=	1;
		ObjData->mObjSoftBody->mSoftBody->m_cfg.kSR_SPLT_CL	=	0;

		ObjData->mObjSoftBody->mSoftBody->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS;
		ObjData->mObjSoftBody->mSoftBody->randomizeConstraints();
		ObjData->mObjSoftBody->mSoftBody->setTotalMass(10,true);
		ObjData->mObjSoftBody->mSoftBody->generateClusters(64);
		Globals::phyWorld->addSoftBody(ObjData->mObjSoftBody->mSoftBody);

the rigid body is created as follows

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		BtOgre::StaticMeshToShapeConverter converter(MyEntity);
		if (ObjData->CollisionShape == "Box")
		{
			ObjData->mObjShape = converter.createBox();
		} else if (ObjData->CollisionShape == "Sphere") {
			ObjData->mObjShape = converter.createSphere();
		}

		ObjData->mObjShape->setLocalScaling(btVector3(ObjData->AxisScaling[0],ObjData->AxisScaling[1],ObjData->AxisScaling[2]));

		//Calculate inertia.
		btVector3 inertia(0,0,0);
		btScalar mass = ObjData->DynData.Mass;
		bool isDynamic = (mass != 0.f);
		if (isDynamic)
			ObjData->mObjShape->calculateLocalInertia(mass, inertia);

		//Create BtOgre MotionState (connects Ogre and Bullet).
		ObjData->mObjState = new BtOgre::RigidBodyState(ObjData->mObjNode);

		//Create the Body.
		ObjData->mObjBody = new btRigidBody(mass, ObjData->mObjState, ObjData->mObjShape, inertia);
		Globals::phyWorld->addRigidBody(ObjData->mObjBody);		

the flatsurface

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	    //Create flat surface plane.
	    mGroundEntity = mSceneMgr->createEntity("groundEntity", "FlatPlane.mesh");
	    mSceneMgr->getRootSceneNode()->createChildSceneNode("groundNode")->attachObject(mGroundEntity);
		mGroundEntity->setMaterialName("Examples/GrassFloor");
		mGroundEntity->setCastShadows(false);

	    //Create the ground shape.
	    BtOgre::StaticMeshToShapeConverter converter2(mGroundEntity);
	    mGroundShape = converter2.createTrimesh();
	    //mGroundShape = converter2.createBox();
		//mGroundShape->setMargin(0.5);

	    //Create MotionState (no need for BtOgre here, you can use it if you want to though).
	    btDefaultMotionState* groundState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,0)));

	    //Create the Body.
	    mGroundBody = new btRigidBody(0, groundState, mGroundShape, btVector3(0,0,0));
	    Globals::phyWorld->addRigidBody(mGroundBody);

I ahve followed the softdemo and cant see what i am doing wrong fro the soft/rigid body interaction to be missed. Can someone please help with some hints? It seems some people
have this working.

Garibalde