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add configurable parameters to urdf

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This commit is contained in:
Chuyuan Fu
2020-09-14 12:34:21 -07:00
parent 29304a53aa
commit 7d8379bad4
5 changed files with 56 additions and 35 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+2 -1
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@@ -8783,7 +8783,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
psb->m_cfg.kDF = deformable.m_friction;
if (deformable.m_springCoefficients.bending_stiffness)
{
psb->generateBendingConstraints(2);
psb->generateBendingConstraints(deformable.m_springCoefficients.bending_stride);
}
btSoftBody::Material* pm = psb->appendMaterial();
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
@@ -8802,6 +8802,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
psb->setSelfCollision(useSelfCollision);
psb->setSpringStiffness(deformable.m_repulsionStiffness);
psb->setGravityFactor(deformable.m_gravFactor);
psb->setCacheBarycenter(deformable.m_cache_barycenter);
psb->initializeFaceTree();
}
#endif //SKIP_DEFORMABLE_BODY