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add API for two different damping modes for mass spring

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This commit is contained in:
Xuchen Han
2020-05-11 16:42:17 -07:00
parent 15f3e144f6
commit 644fd5f311
6 changed files with 17 additions and 11 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+2 -1
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@@ -8362,6 +8362,7 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
#ifndef SKIP_DEFORMABLE_BODY
deformable.m_springCoefficients.elastic_stiffness = loadSoftBodyArgs.m_springElasticStiffness;
deformable.m_springCoefficients.damping_stiffness = loadSoftBodyArgs.m_springDampingStiffness;
deformable.m_springCoefficients.damp_all_directions = loadSoftBodyArgs.m_dampAllDirections;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
{
deformable.m_springCoefficients.bending_stiffness = loadSoftBodyArgs.m_springBendingStiffness;
@@ -8472,7 +8473,7 @@ 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);
}