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Merge pull request #3061 from fuchuyuan/addAttributes

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add configurable parameters to urdf
This commit is contained in:
erwincoumans
2020-09-18 16:59:43 -07:00
committed by GitHub
parent 5ce97ffdb1 f51e92000a
commit 7f4fdb16b3
5 changed files with 57 additions and 35 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+2 -1
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@@ -8785,7 +8785,7 @@ 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;
@@ -8804,6 +8804,7 @@ 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