add damping energy in line search

2019-09-17 14:58:16 -07:00
parent 3dcfcda19a
commit ae42cc561e
15 changed files with 128 additions and 74 deletions
--- a/src/BulletSoftBody/btDeformableContactProjection.cpp
+++ b/src/BulletSoftBody/btDeformableContactProjection.cpp
@@ -40,7 +40,6 @@ btScalar btDeformableContactProjection::update()
        residualSquare = btMax(residualSquare, localResidualSquare);
    }
    
-    // todo xuchenhan@: deformable/deformable constraints
    return residualSquare;
 }

@@ -401,7 +400,6 @@ void btDeformableContactProjection::applyDynamicFriction(TVStack& f)

 void btDeformableContactProjection::reinitialize(bool nodeUpdated)
 {
-    btCGProjection::reinitialize(nodeUpdated);
    m_staticConstraints.clear();
    m_nodeRigidConstraints.clear();
    m_faceRigidConstraints.clear();