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hook deformable world into the physics server

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Xuchen Han
2019-08-26 15:43:21 -07:00
committed by Xuchen Han
parent 9cf50846d6
commit 0b391798b7
9 changed files with 277 additions and 43 deletions
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27
examples/SharedMemory/SharedMemoryCommands.h
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@@ -489,11 +489,18 @@ enum EnumSimParamUpdateFlags
enum EnumLoadSoftBodyUpdateFlags
{
LOAD_SOFT_BODY_FILE_NAME = 1,
LOAD_SOFT_BODY_UPDATE_SCALE = 2,
LOAD_SOFT_BODY_UPDATE_MASS = 4,
LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 8,
LOAD_SOFT_BODY_INITIAL_POSITION = 16,
LOAD_SOFT_BODY_INITIAL_ORIENTATION = 32
LOAD_SOFT_BODY_UPDATE_SCALE = 1<<1,
LOAD_SOFT_BODY_UPDATE_MASS = 1<<2,
LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 1<<3,
LOAD_SOFT_BODY_INITIAL_POSITION = 1<<4,
LOAD_SOFT_BODY_INITIAL_ORIENTATION = 1<<5,
LOAD_SOFT_BODY_ADD_COROTATED_FORCE = 1<<6,
LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE = 1<<7,
LOAD_SOFT_BODY_ADD_GRAVITY_FORCE = 1<<8,
LOAD_SOFT_BODY_SET_COLLISION_HARDNESS = 1<<9,
LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10,
LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11,
LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
};
enum EnumSimParamInternalSimFlags
@@ -512,6 +519,16 @@ struct LoadSoftBodyArgs
double m_collisionMargin;
double m_initialPosition[3];
double m_initialOrientation[4];
double m_springElasticStiffness;
double m_springDampingStiffness;
double m_corotatedMu;
double m_corotatedLambda;
double m_gravity[3];
bool m_useBendingSprings;
double m_collisionHardness;
double m_frictionCoeff;
double m_NeoHookeanMu;
double m_NeoHookeanLambda;
};
struct b3LoadSoftBodyResultArgs