Distance Constraints Damping in XPBD

Hello, I am working on a surgical simulator using XPBD. I am trying to implement a better damping as currently with simple viscous damping the virtual anatomy is either unresponsive or oscillates too much. I have adapted the solveDistVel() method from this repo https://github.com/matthias-research/pa ... dulum.html which corrects the velocities after the position projections but it does not make any noticeable difference for volumetric meshes or cloths (it works fine however for things like pendulums or hanging chains ).

So I came up with the following implementation embedded directly in distance constraints projection (https://matthias-research.github.io …