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Merge pull request #2800 from xhan0619/splitImpulseMulti

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Stability improvements for deformable.
This commit is contained in:
erwincoumans
2020-05-21 09:47:33 -07:00
committed by GitHub
parent 0f55ba45ca 243aa4ac1f
commit 5233b72160
34 changed files with 297 additions and 177 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -381,8 +381,8 @@ B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle c
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_springElasticStiffness = springElasticStiffness;
command->m_loadSoftBodyArguments.m_springDampingStiffness = springDampingStiffness;
command->m_loadSoftBodyArguments.m_springElasticStiffness = springElasticStiffness;
command->m_loadSoftBodyArguments.m_springDampingStiffness = springDampingStiffness;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE;
return 0;
}
@@ -441,6 +441,15 @@ B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle co
return 0;
}
B3_SHARED_API int b3LoadSoftBodyUseAllDirectionDampingSprings(b3SharedMemoryCommandHandle commandHandle, int allDirectionDamping)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_dampAllDirections = allDirectionDamping;
command->m_updateFlags |= LOAD_SOFT_BODY_SET_DAMPING_SPRING_MODE;
return 0;
}
B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;