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Lukas Tönne c6a65ff5b8 Implemented a modifier conjugate gradient algorithm to support stable

constraining.

The algorithm is described in the paper "Large Steps in Cloth Simulation"
(Baraff/Witkin 1998). The same method was (incorrectly) implemented in
the old cloth solver.

It is based on restricting the degrees of freedom (ndof) of vertices
using a block matrix and a vector of target velocity deltas.
See chapter 5 of the paper for details.

2015-01-20 09:29:58 +01:00