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ENH: Update PbdTissueContactExample to use a two-way proper compliance...

Andrew Wilson requested to merge andrew.wilson/iMSTK:TissueTwoWayHaptics into master

This is pretty awesome payoff with the xpbd rigid bodies. Works very well now.

  • Haptics working in the PbdTissueContactExample. Proper compliance. You can vary the youngs modulus or masses to change how much you can press the tissue.
  • I used the new text additions to display the contact (from constraint lambda) and device forces in the top right of the screen.
  • Also some fixes for updating the text in real time.
  • Replaced example imstkNew's with shared_ptrs.
  • DummyClient now used for mouse movement which is better than manually applying some force. PbdObjectController reused there.


Edited by Andrew Wilson

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