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separate deformable contact solve by islands WIP

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This commit is contained in:
Xuchen Han
2019-12-17 18:27:23 -08:00
parent d38ea87027
commit f65a8b03c0
7 changed files with 92 additions and 33 deletions
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2
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -1180,7 +1180,7 @@ void b3RobotSimulatorClientAPI_NoDirect::loadDeformableBody(const std::string& f
b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin);
b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping);
b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness);
b3LoadSoftBodyUseSelfCollision(command, args.m_useSelfCollision);
b3LoadSoftBodySetSelfCollision(command, args.m_useSelfCollision);
b3LoadSoftBodyUseFaceContact(command, args.m_useFaceContact);
b3LoadSoftBodySetFrictionCoefficient(command, args.m_frictionCoeff);
b3LoadSoftBodyUseBendingSprings(command, args.m_useBendingSprings, args.m_springBendingStiffness);