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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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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9521,7 +9521,7 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
}
// load modes, reduced stiffness matrix
rsb->setReducedModes(reduced_deformable.m_startMode, reduced_deformable.m_numModes, rsb->m_nodes.size());
rsb->setReducedModes(reduced_deformable.m_numModes, rsb->m_nodes.size());
rsb->setStiffnessScale(reduced_deformable.m_stiffnessScale);
rsb->setDamping(0, reduced_deformable.m_damping); // damping alpha is set to 0 by default
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, pathPrefix);