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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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8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8396,6 +8396,11 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
deformable.m_springCoefficients.bending_stiffness = loadSoftBodyArgs.m_springBendingStiffness;
}
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_DAMPING_SPRING_MODE)
{
deformable.m_springCoefficients.damp_all_directions = loadSoftBodyArgs.m_dampAllDirections;
}
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{
deformable.m_corotatedCoefficients.mu = loadSoftBodyArgs.m_corotatedMu;
@@ -8501,7 +8506,8 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
btDeformableLagrangianForce* springForce =
new btDeformableMassSpringForce(deformable.m_springCoefficients.elastic_stiffness,
deformable.m_springCoefficients.damping_stiffness,
true, deformable.m_springCoefficients.bending_stiffness);
!deformable.m_springCoefficients.damp_all_directions,
deformable.m_springCoefficients.bending_stiffness);
deformWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
}