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add mass scaling for reduced deformable model

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This commit is contained in:
jingyuc
2021-11-11 12:27:36 -05:00
parent 7fafbd7718
commit c2072b5538
5 changed files with 33 additions and 11 deletions
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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9525,6 +9525,8 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
rsb->setStiffnessScale(reduced_deformable.m_stiffnessScale);
rsb->setDamping(0, reduced_deformable.m_damping); // damping alpha is set to 0 by default
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, pathPrefix);
// set total mass
rsb->setTotalMass(reduced_deformable.m_mass);
}
#endif
}