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tune CG tolerance

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This commit is contained in:
Xuchen Han
2019-10-04 17:53:30 -07:00
committed by Xuchen Han
parent d0e4bbf04d
commit 4220c7f94c
1 changed files with 3 additions and 3 deletions
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6
src/BulletSoftBody/btConjugateGradient.h
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@@ -32,7 +32,7 @@ public:
btConjugateGradient(const int max_it_in) btConjugateGradient(const int max_it_in)
: max_iterations(max_it_in) : max_iterations(max_it_in)
{ {
tolerance = 1024 * std::numeric_limits<btScalar>::epsilon(); tolerance = 1e-5;
} }
virtual ~btConjugateGradient(){} virtual ~btConjugateGradient(){}
@@ -52,7 +52,7 @@ public:
A.project(z); A.project(z);
btScalar r_dot_z = dot(z,r); btScalar r_dot_z = dot(z,r);
btScalar local_tolerance = tolerance; btScalar local_tolerance = tolerance;
if (std::sqrt(r_dot_z) <= local_tolerance) { if (r_dot_z <= local_tolerance) {
if (verbose) if (verbose)
{ {
std::cout << "Iteration = 0" << std::endl; std::cout << "Iteration = 0" << std::endl;
@@ -86,7 +86,7 @@ public:
A.precondition(r, z); A.precondition(r, z);
r_dot_z = r_dot_z_new; r_dot_z = r_dot_z_new;
r_dot_z_new = dot(r,z); r_dot_z_new = dot(r,z);
if (std::sqrt(r_dot_z_new) < local_tolerance) { if (r_dot_z_new < local_tolerance) {
if (verbose) if (verbose)
{ {
std::cout << "ConjugateGradient iterations " << k << std::endl; std::cout << "ConjugateGradient iterations " << k << std::endl;