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Fix compute_lagrange_update at very high masses #172

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Fix compute_lagrange_update at very high masses #172

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Fix compute_lagrange_update at very high masses
RJ Oct 10, 2023
912f192
Update src/constraints/mod.rs
RJ Oct 10, 2023
64d43cd
Merge branch 'Jondolf:main' into high-mass-collision-fix
RJ Oct 12, 2023
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9 changes: 3 additions & 6 deletions src/constraints/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -253,15 +253,12 @@ pub trait XpbdConstraint<const ENTITY_COUNT: usize> {
dt: Scalar,
) -> Scalar {
// Compute the sum of all inverse masses multiplied by the squared lengths of the corresponding gradients.
// Don't go below EPSILON to avoid dividing by zero.
let w_sum = inverse_masses
.iter()
.enumerate()
.fold(0.0, |acc, (i, w)| acc + *w * gradients[i].length_squared());

// Avoid division by zero
if w_sum <= Scalar::EPSILON {
return 0.0;
}
.fold(0.0, |acc, (i, w)| acc + *w * gradients[i].length_squared())
.max(Scalar::EPSILON);

// tilde_a = a/h^2
let tilde_compliance = compliance / dt.powi(2);
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