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code clean up

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This commit is contained in:
Xuchen Han
2019-08-10 12:00:48 -07:00
parent fa5741d07e
commit f7cd1edf4a
6 changed files with 9 additions and 50 deletions
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5
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -19,6 +19,7 @@
btDeformableBodySolver::btDeformableBodySolver()
: m_numNodes(0)
, m_cg(10)
, m_contact_iterations(10)
{
m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity);
}
@@ -46,7 +47,7 @@ void btDeformableBodySolver::solveConstraints(float solverdt)
void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual)
{
btScalar tolerance = std::numeric_limits<float>::epsilon() * m_objective->computeNorm(residual);
btScalar tolerance = std::numeric_limits<float>::epsilon() * 1024 * m_objective->computeNorm(residual);
m_cg.solve(*m_objective, dv, residual, tolerance);
}
@@ -76,7 +77,7 @@ void btDeformableBodySolver::setConstraints()
{
BT_PROFILE("setConstraint");
m_objective->setConstraints();
for (int i = 0; i < 10; ++i)
for (int i = 0; i < m_contact_iterations; ++i)
{
m_objective->projection.update();
m_objective->enforceConstraint(m_dv);