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reduced velocity should be updated from i-th iteration instead of from the predicted state, because thexternal force has no memory of the previous iteration

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jingyuc
2021-08-16 14:36:35 -04:00
parent 9a17391a9a
commit eacdbe67a0
6 changed files with 92 additions and 54 deletions
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6
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -33,7 +33,7 @@ static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.01;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 4;
static int num_modes = 1;
class BasicTest : public CommonDeformableBodyBase
{
@@ -182,7 +182,7 @@ 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(10);
rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta);
// set fixed nodes
@@ -212,7 +212,7 @@ void BasicTest::initPhysics()
getDeformableDynamicsWorld()->setUseProjection(true);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-6;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
// add a few rigid bodies