strain limiting line search adaptive eps window size

Author: ryichando

examples/hang.ipynb

@@ -30,7 +30,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "param = app.session.param().set(\"dt\",0.01)\n",
+    "param = app.session.param().set(\"dt\",0.001)\n",
     "param.set(\"strain-limit-eps\", 0.005).set(\"strain-limit-tau\", 0.005)\n",
     "param.set(\"frames\",200)\n",
     "param.dyn(\"gravity\").time(1).hold().time(1.1).change(9.8).time(2.0).change(-9.8);"

src/args.rs

@@ -73,10 +73,10 @@ pub struct Args {
     #[clap(long, default_value_t = 1024)]
     pub ccd_max_iters: u32,
 
-    #[clap(long, default_value_t = 0.1)]
+    #[clap(long, default_value_t = 0.01)]
     pub ccd_reduction: f32,
 
-    #[clap(long, default_value_t = 0.01)]
+    #[clap(long, default_value_t = 0.0025)]
     pub ccd_reduction_eps: f32,
 
     #[clap(long, default_value_t = 1e-2)]

src/cpp/strainlimiting/strainlimiting.cu

@@ -111,7 +111,6 @@ float line_search(const DataSet &data, const Kinematic &kinematic,
             const Mat3x2f dF = F1 - F0;
             float gap = max_sigma - utility::svd3x2(F0).S.maxCoeff();
             float target = max_sigma - param.ccd_reduction * gap;
-            float diff_eps = param.ccd_reduction_eps * gap;
             if (utility::svd3x2(F0 + t * dF).S.maxCoeff() > target) {
                 float upper_t = t;
                 float lower_t = 0.0f;
@@ -126,9 +125,7 @@ float line_search(const DataSet &data, const Kinematic &kinematic,
                         upper_t = t;
                     }
                     if (lower_t > 0.0f) {
-                        if (upper_t - lower_t < DT_MIN) {
-                            break;
-                        } else if (iter++ > param.binary_search_max_iter) {
+                        if (upper_t - lower_t < param.ccd_reduction * lower_t) {
                             break;
                         }
                     }