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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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3
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -61,7 +61,7 @@ m_deformableBodySolver(deformableBodySolver), m_solverCallback(0)
m_internalTime = 0.0;
m_implicit = false;
m_lineSearch = false;
m_useProjection = true;
m_useProjection = false;
m_ccdIterations = 5;
m_solverDeformableBodyIslandCallback = new DeformableBodyInplaceSolverIslandCallback(constraintSolver, dispatcher);
}
@@ -537,6 +537,7 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
}
else
{
m_deformableBodySolver->m_useProjection = false;
m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_KKTPreconditioner;
}