I would like to ask if the component PrecomputedConstraintCorrection just equalize the precomputed matrix A with A in every time step or makes “compliance warping” as described in related papers.
The PrecomputedConstraintCorrection computes the exact inverse matrix W=A^-1(t=0) once at the initialization of the simulation. and then uses this same W matrix during the entire computation.
Note that a documentation on constraint resolution is available online.
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