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turn on SVD and use fewer CG iterations

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This commit is contained in:
Xuchen Han
2019-11-03 12:47:08 -08:00
parent 1bd0eee0ff
commit 4347c03459
2 changed files with 3 additions and 2 deletions
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2
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -18,7 +18,7 @@
#include "btDeformableBodySolver.h"
#include "btSoftBodyInternals.h"
#include "LinearMath/btQuickprof.h"
static const int kMaxConjugateGradientIterations = 200;
static const int kMaxConjugateGradientIterations = 50;
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, m_cg(kMaxConjugateGradientIterations)

3
src/BulletSoftBody/btDeformableNeoHookeanForce.h
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@@ -175,7 +175,8 @@ public:
btSoftBody::Tetra& tetra = psb->m_tetras[j];
btMatrix3x3 P;
firstPiola(psb->m_tetraScratches[j],P);
#if USE_SVD
#define USE_SVD 1
#ifdef USE_SVD
if (max_p > 0)
{
// since we want to clamp the principal stress to max_p, we only need to