Use contacts (in collection) for warm start after unmerge

EulalieCoevoet / AdaptiveMerging

With adaptive merging we reduce computation time in rigid body simulations.

https://eulaliecoevoet.github.io/AdaptiveMerging/

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Use contacts (in collection) for warm start after unmerge #5

Closed paulkry closed 5 years ago

paulkry commented 5 years ago

Contact jacobians for those contacts that live within a collection need to be updated for the single cycle PGS touch-up solve, but likewise, those forces on an unmerge serve as a good warmstart. This needs some careful bookkeeping.

EulalieCoevoet commented 5 years ago

The contacts jacobians are now updated. It lefts the comment with the warmstart :)

EulalieCoevoet commented 5 years ago

Done in this commit.