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Merge branch 'master' of github.com:erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2020-06-04 00:00:44 -07:00
parent e6a0206d47 d1ded7d704
commit c09007e005
38 changed files with 331 additions and 189 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+7 -1
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@@ -8403,6 +8403,11 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
deformable.m_springCoefficients.bending_stiffness = loadSoftBodyArgs.m_springBendingStiffness;
}
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_DAMPING_SPRING_MODE)
{
deformable.m_springCoefficients.damp_all_directions = loadSoftBodyArgs.m_dampAllDirections;
}
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{
deformable.m_corotatedCoefficients.mu = loadSoftBodyArgs.m_corotatedMu;
@@ -8508,7 +8513,8 @@ 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);
}