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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/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
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@@ -43,7 +43,7 @@ protected:
btMultiBodyConstraint** m_tmpMultiBodyConstraints;
int m_tmpNumMultiBodyConstraints;
void resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);