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support configuring gravity factor from client

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This commit is contained in:
Xuchen Han
2020-05-26 16:51:45 -07:00
parent e89903a8ab
commit 8a189763df
5 changed files with 30 additions and 3 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+6 -2
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@@ -8421,7 +8421,10 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
{
deformable.m_repulsionStiffness = loadSoftBodyArgs.m_repulsionStiffness;
}
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_GRAVITY_FACTOR)
{
deformable.m_gravFactor = loadSoftBodyArgs.m_gravFactor;
}
#endif
}
@@ -8634,7 +8637,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
// turn on the collision flag for deformable
// collision between deformable and rigid
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
// turn on face contact only for multibodies
// turn on face contact for multibodies
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
// collion between deformable and deformable and self-collision
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
@@ -8642,6 +8645,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
psb->setTotalMass(deformable.m_mass);
psb->setSelfCollision(useSelfCollision);
psb->setSpringStiffness(deformable.m_repulsionStiffness);
psb->setGravityFactor(deformable.m_gravFactor);
psb->initializeFaceTree();
}
#endif //SKIP_DEFORMABLE_BODY