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add correct impulse matrix to multibody-deformable contact

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This commit is contained in:
Xuchen Han
2019-07-24 16:01:47 -07:00
parent 243b9fc8c7
commit 233a381e7c
14 changed files with 618 additions and 594 deletions
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2
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -50,6 +50,7 @@
#include "../DeformableDemo/DeformableDemo.h"
#include "../Pinch/Pinch.h"
#include "../DeformableContact/DeformableContact.h"
#include "../MultiBodyBaseline/MultiBodyBaseline.h"
#include "../VolumetricDeformable/VolumetricDeformable.h"
#include "../SharedMemory/PhysicsServerExampleBullet2.h"
#include "../SharedMemory/PhysicsServerExample.h"
@@ -126,6 +127,7 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(0, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc),
ExampleEntry(0, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc),
ExampleEntry(0, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableContactCreateFunc),
ExampleEntry(0, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc),
ExampleEntry(1, "Constraints", "Show the use of the various constraints in Bullet. Press the L key to visualize the constraint limits. Press the C key to visualize the constraint frames.",
AllConstraintCreateFunc),