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use the maximum square residual instead of sum

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This commit is contained in:
Erwin Coumans
2018-07-24 15:20:34 +02:00
parent b5495e789d
commit f91e5c573c
2 changed files with 13 additions and 13 deletions
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10
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -39,7 +39,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index];
btScalar residual = resolveSingleConstraintRowGeneric(constraint);
leastSquaredResidual += residual*residual;
leastSquaredResidual = btMax(leastSquaredResidual,residual*residual);
if(constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false);
@@ -60,7 +60,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
residual = resolveSingleConstraintRowGeneric(constraint);
}
leastSquaredResidual += residual*residual;
leastSquaredResidual = btMax(leastSquaredResidual,residual*residual);
if(constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false);
@@ -85,7 +85,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
leastSquaredResidual += residual*residual;
leastSquaredResidual = btMax(leastSquaredResidual , residual*residual);
if (frictionConstraint.m_multiBodyA)
frictionConstraint.m_multiBodyA->setPosUpdated(false);
@@ -115,7 +115,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction*totalImpulse);
frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction*totalImpulse;
btScalar residual = resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB);
leastSquaredResidual += residual*residual;
leastSquaredResidual = btMax(leastSquaredResidual, residual*residual);
if (frictionConstraintB.m_multiBodyA)
frictionConstraintB.m_multiBodyA->setPosUpdated(false);
@@ -148,7 +148,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
leastSquaredResidual += residual*residual;
leastSquaredResidual = btMax(leastSquaredResidual, residual*residual);
if (frictionConstraint.m_multiBodyA)
frictionConstraint.m_multiBodyA->setPosUpdated(false);