test data for gcp

Author: Huangzizhou

gcp-contact/common.json

@@ -0,0 +1,35 @@
+{
+    "contact": {
+        "enabled": true,
+        "dhat": 0.01,
+        "alpha_t": 1e-1,
+        "alpha_n": 1e-1,
+        "use_gcp_formulation": true
+    },
+    "solver": {
+        "linear": {
+            "solver": ["Eigen::PardisoLLT", "Eigen::CholmodSupernodalLLT", "Eigen::SimplicialLDLT"]
+        },
+        "nonlinear": {
+            "line_search": {
+                "method": "Backtracking",
+                "use_grad_norm_tol": 1e-6
+            },
+            "Newton": {
+                "use_psd_projection": false,
+                "use_psd_projection_in_regularized": false
+            },
+            "solver": "Newton",
+            "grad_norm": 1e-4,
+            "advanced": {
+                "derivative_along_delta_x_tol": 1e-18
+            }
+        },
+        "contact": {
+            "barrier_stiffness": 1e6,
+            "CCD": {
+                "broad_phase": "BVH"
+            }
+        }
+    }
+}