From 081497a812fde6cd752e7f394b8a25edd452e4f5 Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan2015@u.northwestern.edu>
Date: Mon, 12 Aug 2019 12:04:31 -0700
Subject: [PATCH] reset dt to 1/240 for grasping demos

---
 examples/DeformableDemo/GraspDeformable.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp
index c71929234..bee1472c1 100644
--- a/examples/DeformableDemo/GraspDeformable.cpp
+++ b/examples/DeformableDemo/GraspDeformable.cpp
@@ -126,7 +126,7 @@ public:
         }
         
         //use a smaller internal timestep, there are stability issues
-        float internalTimeStep = 1. / 400.f;
+        float internalTimeStep = 1. / 240.f;
         m_dynamicsWorld->stepSimulation(deltaTime, 5, internalTimeStep);
     }
     
@@ -354,7 +354,7 @@ void GraspDeformable::initPhysics()
         getDeformableDynamicsWorld()->addSoftBody(psb);
         getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
         getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(10,10));
+        getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(5,5));
     }
     
 //    // create a piece of cloth