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WIP warm starting

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This commit is contained in:
jingyuc
2021-08-23 01:17:37 -04:00
parent 368385d5ad
commit d9152b9cf5
9 changed files with 117 additions and 54 deletions
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4
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -183,7 +183,7 @@ void BasicTest::initPhysics()
// rsb->scale(btVector3(1, 1, 1)); //TODO: add back scale
rsb->translate(btVector3(0, 4, 0));
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(20);
rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta);
// set fixed nodes
@@ -213,7 +213,7 @@ void BasicTest::initPhysics()
getDeformableDynamicsWorld()->setUseProjection(true);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 0;
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
// add a few rigid bodies