PBD and damping

[Eelco Hoogendoorn]

Hey Matthias,

Since I dont see a correspondence address on your XPBD paper, I thought id ask here. In your XPBD paper, joint damping is implemented on the velocity level, as per eq 31/32.

I wonder if you ever compared that to the approach to damping proposed here

It strikes me that the latter formulation has some advantages, mainly that any competition between strong stiffness and damping forces is handled correctly within the position solve. In your XPBD paper there doesnt seem to be a section discussing the relative advantages of different damping methods, so I was curious if you would care to elaborate what your thinking on the matter is today.

And by the way; thanks for all you do for the physics simulation community!