Closed lucasw closed 7 years ago
From SoftDemo.cpp
could first enable the simple soft bodies that are simply an array of vertices (in the Mesh
msg) and then use the CreateFromConvexHull
helper function.
One thing for soft body support in general is that the solver and world is different with soft bodies, presumably it performs differently for rigid bodies. So probably a rosparam flag will determine if soft body support is enabled- and really the first task is to make the sim support soft bodies while still working with the rigid body functionality.
Need tools to help generate the soft bodies to begin with for testing- bullet has some of these, but are fairly difficult to use, so could create own pipeline that matches the service/message format for creating a soft body.