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address comment from ldowns

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This commit is contained in:
Xuchen Han
2019-10-14 15:21:42 -07:00
parent a1afc66817
commit 05c25a27de
2 changed files with 14 additions and 9 deletions
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14
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -18,13 +18,13 @@
#include "btDeformableBodySolver.h"
#include "btSoftBodyInternals.h"
#include "LinearMath/btQuickprof.h"
static const int kMaxConjugateGradientIterations = 200;
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, m_cg(200)
, m_cg(kMaxConjugateGradientIterations)
, m_maxNewtonIterations(5)
, m_newtonTolerance(1e-4)
, m_lineSearch(true)
, m_lineSearch(false)
{
m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity);
}
@@ -101,6 +101,7 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
m_residual[j].setZero();
}
}
updateVelocity();
}
}
@@ -298,9 +299,14 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit)
{
if (implicit)
{
if ((psb->m_nodes[j].m_v - m_backupVelocity[counter]).norm() < SIMD_EPSILON)
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
else
m_dv[counter] = psb->m_nodes[j].m_v - psb->m_nodes[j].m_vn;
m_backupVelocity[counter] = psb->m_nodes[j].m_vn;
}
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
else
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
psb->m_nodes[j].m_v = m_backupVelocity[counter];
++counter;
}