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change CG tolerance criterion

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This commit is contained in:
Xuchen Han
2019-08-31 14:32:06 -07:00
committed by Xuchen Han
parent 3a29b1c32d
commit 1febf8d612
4 changed files with 6 additions and 6 deletions
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2
src/BulletSoftBody/btConjugateGradient.h
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@@ -48,7 +48,7 @@ public:
A.precondition(r, z); A.precondition(r, z);
A.project(z); A.project(z);
btScalar r_dot_z = dot(z,r); btScalar r_dot_z = dot(z,r);
if (r_dot_z < tolerance) { if (dot(z,z) < tolerance) {
if (verbose) if (verbose)
{ {
std::cout << "Iteration = 0" << std::endl; std::cout << "Iteration = 0" << std::endl;

6
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -131,12 +131,12 @@ void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &r
btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const
{ {
btScalar norm_squared = 0; btScalar mag = 0;
for (int i = 0; i < residual.size(); ++i) for (int i = 0; i < residual.size(); ++i)
{ {
norm_squared += residual[i].length2(); mag += residual[i].length();
} }
return std::sqrt(norm_squared); return mag;
} }
void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force) void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force)

2
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
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@@ -73,7 +73,7 @@ public:
m_sbi.m_broadphase = pairCache; m_sbi.m_broadphase = pairCache;
m_sbi.m_dispatcher = dispatcher; m_sbi.m_dispatcher = dispatcher;
m_sbi.m_sparsesdf.Initialize(); m_sbi.m_sparsesdf.Initialize();
m_sbi.m_sparsesdf.setDefaultVoxelsz(0.025); m_sbi.m_sparsesdf.setDefaultVoxelsz(0.005);
m_sbi.m_sparsesdf.Reset(); m_sbi.m_sparsesdf.Reset();
m_sbi.air_density = (btScalar)1.2; m_sbi.air_density = (btScalar)1.2;

2
src/BulletSoftBody/btDeformableNeoHookeanForce.h
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@@ -31,7 +31,7 @@ public:
m_lambda_damp = damping * m_lambda; m_lambda_damp = damping * m_lambda;
} }
btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.005): m_mu(mu), m_lambda(lambda) btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda)
{ {
m_mu_damp = damping * m_mu; m_mu_damp = damping * m_mu;
m_lambda_damp = damping * m_lambda; m_lambda_damp = damping * m_lambda;