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| author | erwincoumans <erwincoumans@google.com> | 2020-06-05 10:07:27 -0700 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2020-06-05 10:07:27 -0700 |
| commit | da50438c3c5c43a235839171e35a1e5044d526fd (patch) | |
| tree | 45ce4f9ffd0b56d4695f014fecb9df8ca0de1e0a /examples/Importers | |
| parent | ac3dc0eea5298109c3755c45bc497f06f86111f7 (diff) | |
| parent | 8c0192d639d4437e9c8c2133800b59ff84d065f9 (diff) | |
| download | bullet3-da50438c3c5c43a235839171e35a1e5044d526fd.tar.gz | |
Merge pull request #2826 from xhan0619/grav-factor
Deformable gravity factor
Diffstat (limited to 'examples/Importers')
| -rw-r--r-- | examples/Importers/ImportURDFDemo/UrdfParser.cpp | 11 | ||||
| -rw-r--r-- | examples/Importers/ImportURDFDemo/UrdfParser.h | 3 |
2 files changed, 13 insertions, 1 deletions
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index a37e610ed..c898fbb65 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -1174,6 +1174,17 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config, } deformable.m_repulsionStiffness = urdfLexicalCast<double>(repulsion_xml->Attribute("value")); } + + XMLElement* grav_xml = config->FirstChildElement("gravity_factor"); + if (grav_xml) + { + if (!grav_xml->Attribute("value")) + { + logger->reportError("gravity_factor element must have value attribute"); + return false; + } + deformable.m_gravFactor = urdfLexicalCast<double>(grav_xml->Attribute("value")); + } XMLElement* spring_xml = config->FirstChildElement("spring"); if (spring_xml) diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h index 7cd87c49a..b11578113 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.h +++ b/examples/Importers/ImportURDFDemo/UrdfParser.h @@ -228,6 +228,7 @@ struct UrdfDeformable double m_collisionMargin; double m_friction; double m_repulsionStiffness; + double m_gravFactor; SpringCoeffcients m_springCoefficients; LameCoefficients m_corotatedCoefficients; @@ -237,7 +238,7 @@ struct UrdfDeformable std::string m_simFileName; btHashMap<btHashString, std::string> m_userData; - UrdfDeformable() : m_mass(1.), m_collisionMargin(0.02), m_friction(1.), m_repulsionStiffness(0.5), m_visualFileName(""), m_simFileName("") + UrdfDeformable() : m_mass(1.), m_collisionMargin(0.02), m_friction(1.), m_repulsionStiffness(0.5), m_gravFactor(1.), m_visualFileName(""), m_simFileName("") { } }; |