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Merge pull request #2826 from xhan0619/grav-factor

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Deformable gravity factor
This commit is contained in:
erwincoumans
2020-06-05 10:07:27 -07:00
committed by GitHub
parent ac3dc0eea5 8c0192d639
commit da50438c3c
8 changed files with 41 additions and 4 deletions
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10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8428,7 +8428,10 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
{
deformable.m_repulsionStiffness = loadSoftBodyArgs.m_repulsionStiffness;
}
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_GRAVITY_FACTOR)
{
deformable.m_gravFactor = loadSoftBodyArgs.m_gravFactor;
}
#endif
}
@@ -8641,14 +8644,17 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
// turn on the collision flag for deformable
// collision between deformable and rigid
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
// turn on face contact only for multibodies
// 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);
psb->setTotalMass(deformable.m_mass);
psb->setSelfCollision(useSelfCollision);
psb->setSpringStiffness(deformable.m_repulsionStiffness);
psb->setGravityFactor(deformable.m_gravFactor);
psb->initializeFaceTree();
}
#endif //SKIP_DEFORMABLE_BODY