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turn on deformable rigid face contact

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This commit is contained in:
Xuchen Han
2020-05-26 16:51:32 -07:00
parent 8a189763df
commit 8c0192d639
1 changed files with 2 additions and 0 deletions
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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8639,6 +8639,8 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
// turn on face contact for multibodies
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
/// turn on face contact for rigid body
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
// collion between deformable and deformable and self-collision
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
psb->setCollisionFlags(0);