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add full preconditioner for KKT system

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Xuchen Han
2020-04-15 13:32:16 -07:00
parent 8783b4411c
commit 26ef0e093a
6 changed files with 119 additions and 22 deletions
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src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@@ -40,7 +40,6 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b
if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
{
#define VERBOSE_RESIDUAL_PRINTF 1
#ifdef VERBOSE_RESIDUAL_PRINTF
printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
#endif