Updated Collision Filtering and loaded shaders for Softbodies (#238)

Author: nillannimal

adf_loader/version_1_0/adf_loader_1_0.cpp

@@ -1509,6 +1509,7 @@ bool ADFLoader_1_0::loadSoftBodyAttribs(YAML::Node *a_node, afSoftBodyAttributes
     YAML::Node colorNode = node["color"];
     YAML::Node colorRGBANode = node["color rgba"];
     YAML::Node colorComponentsNode = node["color components"];
+    YAML::Node collisionGroupsNode = node["collision groups"];
 
     YAML::Node configDataNode = node["config"];
 

ambf_framework/afFramework.cpp

@@ -2872,6 +2872,9 @@ bool afSoftBody::createFromAttribs(afSoftBodyAttributes *a_attribs)
         return 0;
     }
 
+    m_shaderAttribs = a_attribs->m_shaderAttribs;
+    loadShaderProgram();
+
     if (m_collisionMesh->loadFromFile(a_attribs->m_collisionAttribs.m_meshFilepath.c_str())){
         m_collisionMesh->removeDuplicateVertices();
         m_collisionMesh->scale(m_scale);
@@ -2985,6 +2988,22 @@ bool afSoftBody::createFromAttribs(afSoftBodyAttributes *a_attribs)
         softBody->randomizeConstraints();
     }
 
+     for (uint gI = 0 ; gI < a_attribs->m_collisionAttribs.m_groups.size() ; gI++){
+        uint group =  a_attribs->m_collisionAttribs.m_groups[gI];
+        // Sanity check for the group number
+        if (group >= 0 && group <= 999){
+            m_afWorld->m_collisionGroups[group].push_back(this);
+            m_collisionGroups.push_back(group);
+             // Print the soft body name and group
+            cout << "SoftBody Name: " << m_name << ", Group: " << group << endl;
+        }
+        else{
+            cerr << "WARNING! Body "
+                    << m_name
+                    << "'s group number is \"" << group << "\" which should be between [0 - 999], ignoring\n";
+        }
+    }
+
     addChildSceneObject(m_visualMesh, cTransform());
     ((btSoftRigidDynamicsWorld*)m_afWorld->m_bulletWorld)->addSoftBody(m_bulletSoftBody);
     m_afWorld->m_bulletSoftBodyWorldInfo->m_sparsesdf.Reset();
@@ -6018,14 +6037,32 @@ void afWorld::buildCollisionGroups(){
                     afInertialObjectPtr bodyA = grpA[aBodyIdx];
                     for(uint bBodyIdx = 0 ; bBodyIdx < grpB.size() ; bBodyIdx++){
                         afInertialObjectPtr bodyB = grpB[bBodyIdx];
-                        if (bodyA != bodyB && !bodyB->isCommonCollisionGroupIdx(bodyA->m_collisionGroups))
-                            bodyA->m_bulletRigidBody->setIgnoreCollisionCheck(bodyB->m_bulletRigidBody, true);
+                        if (bodyA != bodyB && !bodyB->isCommonCollisionGroupIdx(bodyA->m_collisionGroups)){
+                            if (bodyA->m_bulletRigidBody && bodyB->m_bulletRigidBody) {
+                                bodyA->m_bulletRigidBody->setIgnoreCollisionCheck(bodyB->m_bulletRigidBody, true);
+                                //cout << "Ignoring collision between rigid bodies: " << bodyA << " and " << bodyB << endl;
+                            }
+                            // Handle Soft Body
+                            else if (bodyA->m_bulletSoftBody && bodyB->m_bulletRigidBody) {
+                                bodyB->m_bulletRigidBody->setIgnoreCollisionCheck(bodyA->m_bulletSoftBody, true);
+                                //cout << "Ignoring collision between soft body: " << bodyA << " and rigid body: " << bodyB << endl;
+                            }
+                            else if (bodyA->m_bulletRigidBody && bodyB->m_bulletSoftBody) {
+                                bodyA->m_bulletRigidBody->setIgnoreCollisionCheck(bodyB->m_bulletSoftBody, true);
+                                //cout << "Ignoring collision between rigid body: " << bodyA << " and soft body: " << bodyB << endl;
+                            }
+                            else if (bodyA->m_bulletSoftBody && bodyB->m_bulletSoftBody) {
+                                // Set ignore collision for both soft bodies
+                                bodyA->m_bulletSoftBody->setIgnoreCollisionCheck(bodyB->m_bulletSoftBody, true);
+                                //cout << "Ignoring collision between soft bodies: " << bodyA << " and " << bodyB << endl;
+                        }
                     }
                 }
             }
         }
     }
 }
+}