PbdContactConstraints in PbdObjectGrasping
PbdObjectGrasping needs to be upgraded to work with rigid bodies and upgraded for two-way interaction to allow grasping haptics.
- Grasping of rigid with rigid body.
- Grasping of soft with rigid body.
Existing approach uses PbdDistanceConstraint which only does a linear solve. So you could only grasp from the rigid body origin. Now you can use PbdDistanceBodyToBodyConstraint to constraint two points on a rigid body (off origin) by a distance.
Edited by Andrew Wilson