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Fixes collision problem #668

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merged 1 commit into from
Apr 14, 2016
Merged

Fixes collision problem #668

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7 changes: 7 additions & 0 deletions dart/constraint/ConstraintSolver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -291,7 +291,10 @@ LCPSolver* ConstraintSolver::getLCPSolver() const
void ConstraintSolver::solve()
{
for (size_t i = 0; i < mSkeletons.size(); ++i)
{
mSkeletons[i]->clearConstraintImpulses();
mSkeletons[i]->clearCollidingBodies();
}

// Update constraints and collect active constraints
updateConstraints();
Expand Down Expand Up @@ -394,6 +397,10 @@ void ConstraintSolver::updateConstraints()
{
auto& ct = mCollisionResult.getContact(i);

// Set colliding bodies
const_cast<dynamics::ShapeFrame*>(ct.collisionObject1->getShapeFrame())->asShapeNode()->getBodyNodePtr()->setColliding(true);
const_cast<dynamics::ShapeFrame*>(ct.collisionObject2->getShapeFrame())->asShapeNode()->getBodyNodePtr()->setColliding(true);

if (isSoftContact(ct))
{
mSoftContactConstraints.push_back(
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3 changes: 3 additions & 0 deletions dart/dynamics/MetaSkeleton.h
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Expand Up @@ -537,6 +537,9 @@ class MetaSkeleton : public common::Subject
/// Get the potential energy of this MetaSkeleton
virtual double getPotentialEnergy() const = 0;

/// Clear collision flags of the BodyNodes in this MetaSkeleton
virtual void clearCollidingBodies() = 0;

/// \}

//----------------------------------------------------------------------------
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11 changes: 11 additions & 0 deletions dart/dynamics/ReferentialSkeleton.cpp
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Expand Up @@ -785,6 +785,17 @@ double ReferentialSkeleton::getPotentialEnergy() const
return PE;
}

//==============================================================================
void ReferentialSkeleton::clearCollidingBodies()
{
for(size_t i = 0; i < this->getNumBodyNodes(); i++)
{
auto bd = this->getBodyNode(i);
if(bd)
bd->setColliding(false);
}
}

//==============================================================================
Eigen::Vector3d ReferentialSkeleton::getCOM(const Frame* _withRespectTo) const
{
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3 changes: 3 additions & 0 deletions dart/dynamics/ReferentialSkeleton.h
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Expand Up @@ -273,6 +273,9 @@ class ReferentialSkeleton : public MetaSkeleton
// Documentation inherited
double getPotentialEnergy() const override;

// Documentation inherited
void clearCollidingBodies() override;

/// \}

//----------------------------------------------------------------------------
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11 changes: 11 additions & 0 deletions dart/dynamics/Skeleton.cpp
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Expand Up @@ -3613,6 +3613,17 @@ double Skeleton::getPotentialEnergy() const
return PE;
}

//==============================================================================
void Skeleton::clearCollidingBodies()
{
for(size_t i = 0; i < this->getNumBodyNodes(); i++)
{
auto bd = this->getBodyNode(i);
if(bd)
bd->setColliding(false);
}
}

//==============================================================================
Eigen::Vector3d Skeleton::getCOM(const Frame* _withRespectTo) const
{
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3 changes: 3 additions & 0 deletions dart/dynamics/Skeleton.h
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Expand Up @@ -878,6 +878,9 @@ class Skeleton :
// Documentation inherited
double getPotentialEnergy() const override;

// Documentation inherited
void clearCollidingBodies() override;

/// \}

//----------------------------------------------------------------------------
Expand Down