add corotated model to lagrangian forces

examples/ExampleBrowser/ExampleEntries.cpp

@@ -197,7 +197,7 @@ static ExampleEntry gDefaultExamples[] =
         ExampleEntry(0, "Deformabe Body"),
         ExampleEntry(1, "Deformable-RigidBody Contact", "Deformable test", DeformableRigidCreateFunc),
         ExampleEntry(1, "Grasp Deformable Cube", "Grasping test", PinchCreateFunc),
-        ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableaCreateFunc),
+        ExampleEntry(1, "Grasp Deformable with Motor", "Grasping test", GraspDeformableCreateFunc),
         ExampleEntry(1, "Volumetric Deformable Objects", "Volumetric Deformable test", VolumetricDeformableCreateFunc),
         ExampleEntry(1, "Deformable-MultiBody Contact", "MultiBody and Deformable contact", DeformableMultibodyCreateFunc),
         // ExampleEntry(1, "MultiBody Baseline", "MultiBody Baseline", MultiBodyBaselineCreateFunc),

examples/GraspDeformable/GraspDeformable.cpp

@@ -332,14 +332,15 @@ void GraspDeformable::initPhysics()
         psb->translate(btVector3(0, 0, 0));
         psb->getCollisionShape()->setMargin(0.1);
         psb->setTotalMass(1);
-        psb->setSpringStiffness(2);
-        psb->setDampingCoefficient(0.02);
+        psb->setSpringStiffness(0);
+        psb->setDampingCoefficient(0.04);
         psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
         psb->m_cfg.kCHR = 1; // collision hardness with rigid body
         psb->m_cfg.kDF = 2;
         getDeformableDynamicsWorld()->addSoftBody(psb);
         getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
         getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
+        getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(2,2));
     }
     
 	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);