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no longer need to use start_modes, because all the rigid modes are not saved in .bin files in the preprocessor

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jingyuc
2021-11-16 21:05:48 -05:00
parent 2d08d4047a
commit 007eea15cb
15 changed files with 30 additions and 41 deletions
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examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp
+1 -2
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@@ -40,7 +40,6 @@ static btScalar sGripperVerticalVelocity = 0.f;
static btScalar sGripperClosingTargetVelocity = 0.f;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0001;
static int start_mode = 6;
static int num_modes = 20;
static float friction = 1.;
struct TetraCube
@@ -317,7 +316,7 @@ void ReducedMotorGrasp::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);