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add max split impulse push out distance and switch contact to be double sided

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This commit is contained in:
Xuchen Han
2020-04-23 01:54:37 -07:00
parent bc8f99a640
commit 296602fc57
6 changed files with 37 additions and 33 deletions
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6
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@@ -41,7 +41,8 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b
if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
{
#ifdef VERBOSE_RESIDUAL_PRINTF
printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
if (iteration >= (maxIterations - 1))
printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
#endif
m_analyticsData.m_numSolverCalls++;
m_analyticsData.m_numIterationsUsed = iteration+1;
@@ -133,7 +134,8 @@ void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseI
if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
{
#ifdef VERBOSE_RESIDUAL_PRINTF
printf("residual = %f at iteration #%d\n", leastSquaresResidual, iteration);
if (iteration >= (infoGlobal.m_numIterations - 1))
printf("split impulse residual = %f at iteration #%d\n", leastSquaresResidual, iteration);
#endif
break;
}