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add option to terminate PGS constraint solvers based on a least square residual threshold

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(for example solverInfo().m_leastSquaresResidualThreshold = 1e-7 and use large m_numSolverIterations
disable sphere-sphere contact cache, it is buggy (some contact point stay in the cache, when sphere penetrates more than total margins)
tweak some gpu demo settings
This commit is contained in:
Erwin Coumans
2016-12-16 18:09:52 -08:00
parent 38b10137c9
commit dcd02a1e15
11 changed files with 111 additions and 37 deletions
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src/Bullet3Collision/NarrowPhaseCollision/b3Config.h
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@@ -20,7 +20,7 @@ struct b3Config
int m_maxTriConvexPairCapacity;
b3Config()
:m_maxConvexBodies(32*1024),
:m_maxConvexBodies(128*1024),
m_maxVerticesPerFace(64),
m_maxFacesPerShape(12),
m_maxConvexVertices(8192),