Revert "Revert "Simplify soft body initialization and solver""

This reverts commit 56b5675dcd.
2019-05-21 20:48:41 -03:00
parent 56b5675dcd
commit 9a14c1903c
3 changed files with 91 additions and 510 deletions
--- a/include/bounce/softbody/softbody.h
+++ b/include/bounce/softbody/softbody.h
@ -42,8 +42,8 @@ struct b3SoftBodyRayCastSingleOutput
 // Soft body tetrahedron element
 struct b3SoftBodyElement
 {
-	float32 invP[16];
 	b3Mat33 K[16];
+	b3Mat33 invE;
 	b3Quat q;
 };