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add damping energy in line search

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This commit is contained in:
Xuchen Han
2019-09-17 14:58:16 -07:00
parent 3dcfcda19a
commit ae42cc561e
15 changed files with 128 additions and 74 deletions
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src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -194,7 +194,7 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
// set up constraints among multibodies and between multibodies and deformable bodies
setupConstraints();
solveMultiBodyRelatedConstraints();
m_deformableBodySolver->m_objective->projection.setProjection();
m_deformableBodySolver->m_objective->m_projection.setProjection();
// for explicit scheme, m_backupVelocity = v_{n+1}^*
// for implicit scheme, m_backupVelocity = v_n