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lucasw / simple_sim_ros

Minimally featured but fast ROS physics simulation wrapping bullet
GNU General Public License v3.0
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Soft body support #5

Closed lucasw closed 7 years ago

lucasw commented 7 years ago

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.

lucasw commented 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.