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address PR comment and tune parameters for cloth

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This commit is contained in:
Xuchen Han
2019-12-19 21:51:54 -08:00
parent 4ab0387262
commit 6a8973d2f4
3 changed files with 25 additions and 8 deletions
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10
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -1178,8 +1178,14 @@ void b3RobotSimulatorClientAPI_NoDirect::loadDeformableBody(const std::string& f
b3LoadSoftBodySetScale(command, args.m_scale);
b3LoadSoftBodySetMass(command, args.m_mass);
b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin);
b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping);
b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness);
if (args.m_NeoHookeanMu > 0)
{
b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping);
}
if (args.m_springElasticStiffness > 0)
{
b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness);
}
b3LoadSoftBodySetSelfCollision(command, args.m_useSelfCollision);
b3LoadSoftBodyUseFaceContact(command, args.m_useFaceContact);
b3LoadSoftBodySetFrictionCoefficient(command, args.m_frictionCoeff);

11
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -113,7 +113,16 @@ struct b3RobotSimulatorLoadDeformableBodyArgs
m_startOrientation(startOrn),
m_scale(scale),
m_mass(mass),
m_collisionMargin(collisionMargin)
m_collisionMargin(collisionMargin),
m_springElasticStiffness(-1),
m_springDampingStiffness(-1),
m_springBendingStiffness(-1),
m_NeoHookeanMu(-1),
m_NeoHookeanDamping(-1),
m_useSelfCollision(false),
m_useFaceContact(false),
m_useBendingSprings(false),
m_frictionCoeff(0)
{
}