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allow positive penetration to pose inactive constraints for more stability

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This commit is contained in:
Xuchen Han
2020-05-08 16:51:53 -07:00
parent 7069d51eae
commit cb1cd969a8
5 changed files with 34 additions and 37 deletions
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src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
+2 -1
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@@ -532,12 +532,13 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
if (m_useProjection)
{
m_deformableBodySolver->m_useProjection = true;
// m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = true;
m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = true;
m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_massPreconditioner;
}
else
{
m_deformableBodySolver->m_useProjection = false;
m_deformableBodySolver->m_objective->m_projection.m_useStrainLimiting = false;
m_deformableBodySolver->m_objective->m_preconditioner = m_deformableBodySolver->m_objective->m_KKTPreconditioner;
}