Dependence of SurfacePressureConstraint on size of timestep

[iman-adibnazari]

Hello,

I wanted to follow up on this issue and see if the timestep dependence is still present and, if so, if it is linear (i.e., if I increase my timestep by a factor of 10, then scaling pressure inputs by a factor of 10 should result in the same net behavior).

I'm running a soft robot simulation at multiple timestep sizes to asses which would be the most appropriate. However, the state trajectories for each simulation are fairly different (some are qualitatively similar).

I'm not sure if the discrepancies between my simulations are due to simulation stability being affected by the size of my timestep, if the iterative solver I'm using is potentially not converging (ParallelCGLinearSolver) and might need different parameters, or if the timestep dependence of this surface pressure constraint is having a nonlinear affect on the deformation over time.

I would appreciate any insights on determining what the issue might be and how to address it.

Thank you,
Iman