Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-08-01 02:49:22 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #2775 from xhan0619/splitImpulse

Browse Source 
Split impulse
This commit is contained in:
erwincoumans
2020-04-29 20:00:00 -07:00
committed by GitHub
parent c354c6dec4 84f028a5e6
commit ca50714996
28 changed files with 457 additions and 282 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -8312,6 +8312,10 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
{
deformable.m_friction = loadSoftBodyArgs.m_frictionCoeff;
}
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_REPULSION_STIFFNESS)
{
deformable.m_repulsionStiffness = loadSoftBodyArgs.m_repulsionStiffness;
}
#endif
}
@@ -8531,6 +8535,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
psb->setCollisionFlags(0);
psb->setTotalMass(deformable.m_mass);
psb->setSelfCollision(useSelfCollision);
psb->setSpringStiffness(deformable.m_repulsionStiffness);
psb->initializeFaceTree();
}
#endif //SKIP_DEFORMABLE_BODY