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add cfm and penetration correction to the velocity error for the contact constraint. clean up btReducedSoftBody class. momenumtum conservation WIP

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jingyuc
2021-10-07 15:10:57 -04:00
parent 1949710131
commit 07cfa9a433
20 changed files with 1585 additions and 3324 deletions
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examples/ReducedDeformableDemo/ConservationTest.cpp
+2 -1
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@@ -29,7 +29,7 @@
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0;
static int start_mode = 6;
static int num_modes = 20;
static int num_modes = 1;
class ConservationTest : public CommonDeformableBodyBase
{
@@ -217,6 +217,7 @@ void ConservationTest::initPhysics()
getDeformableDynamicsWorld()->setLineSearch(false);
getDeformableDynamicsWorld()->setUseProjection(false);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;