From 29e78bfe3e655cb112d83e05effb726777820a9c Mon Sep 17 00:00:00 2001 From: Benjamin Kraft Date: Mon, 10 Oct 2022 08:57:28 +0200 Subject: [PATCH] found better compliance --- Source/PBDRobotics/Joint.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Source/PBDRobotics/Joint.cpp b/Source/PBDRobotics/Joint.cpp index b1cf6c4..21619d8 100644 --- a/Source/PBDRobotics/Joint.cpp +++ b/Source/PBDRobotics/Joint.cpp @@ -41,7 +41,7 @@ void UJoint::SolvePosition(const double H) const{ const double W1 = L1->GetPositionalInverseMass(R1, N); const double W2 = L2->GetPositionalInverseMass(R2, N); - constexpr double A = 1. / 10000000; // Compliance (inverse of stiffness) + constexpr double A = 1. / 1000000; // Compliance (inverse of stiffness) const Vector3d P = -C / (W1 + W2 + A / (H * H)) * N; L1->Position += P / M1;