ENH: Improving stability of collision constraints near a boundary condition.
This change increases the stability of the PBD solver when contacting a point near or at a boundary condition. Its not a perfect fix, but the solution explodes much less often now. Tied to #433 (closed).
PR Checklist
-
No API changes were made (or the changes have been approved) -
No major design changes were made (or the changes have been approved) -
No new dependecies were added (or the new dependencies have been approved) -
Added test (or behavior not changed) -
Updated API documentation (or API not changed) -
Ran the CodeFormatEnforcer
task and verified the license header is in all new files -
Added iMSTK examples for all new major features (if any)
Edited by Jacob Moore