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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2020-09-20 16:36:45 -07:00
parent 46a2823ebc ad931b8c39
commit d0dc96aa05
8 changed files with 87 additions and 48 deletions
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3
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8849,7 +8849,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
psb->m_cfg.kDF = deformable.m_friction;
if (deformable.m_springCoefficients.bending_stiffness)
{
psb->generateBendingConstraints(2);
psb->generateBendingConstraints(deformable.m_springCoefficients.bending_stride);
}
btSoftBody::Material* pm = psb->appendMaterial();
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
@@ -8868,6 +8868,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
psb->setSelfCollision(useSelfCollision);
psb->setSpringStiffness(deformable.m_repulsionStiffness);
psb->setGravityFactor(deformable.m_gravFactor);
psb->setCacheBarycenter(deformable.m_cache_barycenter);
psb->initializeFaceTree();
}
#endif //SKIP_DEFORMABLE_BODY