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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

Displacement/velocity?

It is totally equivalent for me, but proportional displacement seems 
easier and more robust (no risk of resetting the speed in an engine 
before it is actually computed, no special cases in Newton's law,...).
I would go for proportional instantaneous displacement.

So, the scheme is :

Define the strain rate e'_kk in each direction

- e'_kk = constante
or
- e'_kk(t+dt) = e'_kk(t) + (stress_error)/mass

Assign proportional displacement dr = e * r

We are still discussing this here, I'm anticipating a little, but I 
think we can converge to something compatible with that.

Bruno


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