- cleanup

Author: janbender

PositionBasedDynamics/PositionBasedDynamics.cpp

@@ -1742,7 +1742,6 @@ void PBD::PositionBasedDynamics::computeMatrixK(
 	const float mass,
 	const Eigen::Vector3f &x,
 	const Eigen::Matrix3f &inertiaInverseW,
-	const Eigen::Quaternionf &q, 
 	Eigen::Matrix3f &K)
 {
 	if (mass != 0.0f)
@@ -1792,8 +1791,8 @@ bool PBD::PositionBasedDynamics::solveRigidBodyBallJoint(
 {
 	// Compute Kinv
 	Eigen::Matrix3f K1, K2;
-	computeMatrixK(connector0, mass0, x0, inertiaInverseW0, q0, K1);
-	computeMatrixK(connector1, mass1, x1, inertiaInverseW1, q1, K2);
+	computeMatrixK(connector0, mass0, x0, inertiaInverseW0, K1);
+	computeMatrixK(connector1, mass1, x1, inertiaInverseW1, K2);
 	const Eigen::Matrix3f Kinv = (K1 + K2).inverse();
 
 	const Eigen::Vector3f pt = Kinv * (connector1 - connector0);

PositionBasedDynamics/PositionBasedDynamics.h

@@ -305,7 +305,6 @@ namespace PBD
 			const float mass,
 			const Eigen::Vector3f &x,
 			const Eigen::Matrix3f &inertiaInverseW,
-			const Eigen::Quaternionf &q,
 			Eigen::Matrix3f &K);
 
 	public:

README.md

@@ -11,7 +11,7 @@ Until now the library was only tested on a Windows system. However, it should al
 ## Features
 
 * Physically-based simulation with position-based constraint handling.
-* Library supports many constraints: point-point, point-edge, point-triangle and edge-edge distance constraints, dihedral bending constraint, isometric bending, volume constraint, shape matching, FEM-based PBD (2D & 3D), strain-based dynamics (2D & 3D) and position-based fluids.
+* Library supports many constraints: point-point, point-edge, point-triangle and edge-edge distance constraints, dihedral bending constraint, isometric bending, volume constraint, shape matching, FEM-based PBD (2D & 3D), strain-based dynamics (2D & 3D), position-based fluids and position-based rigid body dynamics.
 * Simple interface
 * Demos 
 * Library is free even for commercial applications.