- fixed Eigen alignment

janbender · janbender · commit dd185b0a0479 · 2019-10-28T15:41:48.000+01:00
diff --git a/CMake/Common.cmake b/CMake/Common.cmake
@@ -12,23 +12,40 @@ set(PBD_BINARY_DEBUG_POSTFIX "_d" CACHE INTERNAL "Postfix for executables")
 set(PBD_BINARY_RELWITHDEBINFO_POSTFIX "_rd" CACHE INTERNAL "Postfix for executables")
 set(PBD_BINARY_MINSIZEREL_POSTFIX "_ms" CACHE INTERNAL "Postfix for executables")
 
+if (NOT WIN32)
+	if (NOT EXISTS ${CMAKE_BINARY_DIR}/CMakeCache.txt)
+	  if (NOT CMAKE_BUILD_TYPE)
+		set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
+	  endif()
+	endif()
+endif()
+
+option(USE_OpenMP "Use OpenMP" ON)
+if(USE_OpenMP)
+	FIND_PACKAGE(OpenMP)
+	if(OPENMP_FOUND)
+		SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+	endif()
+endif()
+
 if (WIN32)
     set(CMAKE_USE_RELATIVE_PATHS "1")
     # Set compiler flags
-    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /MP /openmp /bigobj")
-    set(CMAKE_CXX_FLAGS_RELEASE "/MD /MP /Ox /Ob2 /Oi /Ot /D NDEBUG /openmp")
-	set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "/MD /Zi /MP /Ox /Ob2 /Oi /Ot /D NDEBUG /openmp /bigobj") 
+    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /MP /bigobj")
+    set(CMAKE_CXX_FLAGS_RELEASE "/MD /MP /Ox /Ob2 /Oi /Ot /D NDEBUG")
+	set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "/MD /Zi /MP /Ox /Ob2 /Oi /Ot /D NDEBUG /bigobj") 
     set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/INCREMENTAL:NO")
     set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "/INCREMENTAL:NO")
     set(CMAKE_STATIC_LINKER_FLAGS_RELEASE "/INCREMENTAL:NO")
 endif (WIN32)
 
 if (UNIX)
     set(CMAKE_USE_RELATIVE_PATHS "1")
-    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG -fopenmp")
+    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
     # Set compiler flags for "release"
-    set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG -fopenmp")
-	set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -DNDEBUG -march=native -fopenmp") 
+    set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG -march=native")
+	set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -DNDEBUG -march=native") 
 endif (UNIX)
 
 if(APPLE)
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -12,6 +12,10 @@ include(${PROJECT_PATH}/CMake/Common.cmake)
 
 add_definitions(-DPBD_DATA_PATH="../data")
 
+if (NOT WIN32)
+	message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+endif()
+
 if (DEFINED PBD_EXTERNALINSTALLDIR)
 	set(ExternalInstallDir "${PBD_EXTERNALINSTALLDIR}" CACHE INTERNAL "External install directory")	
 else()
diff --git a/Common/Common.h b/Common/Common.h
@@ -25,58 +25,18 @@ typedef float Real;
 #define RealVectorParameterType ParameterBase::VEC_FLOAT
 #endif
 
-using Vector2r = Eigen::Matrix<Real, 2, 1>;
-using Vector3r = Eigen::Matrix<Real, 3, 1>;
-using Vector4r = Eigen::Matrix<Real, 4, 1>;
-using Vector5r = Eigen::Matrix<Real, 5, 1>;
-using Vector6r = Eigen::Matrix<Real, 6, 1>;
-using Matrix2r = Eigen::Matrix<Real, 2, 2>;
-using Matrix3r = Eigen::Matrix<Real, 3, 3>;
-using Matrix4r = Eigen::Matrix<Real, 4, 4>;
+using Vector2r = Eigen::Matrix<Real, 2, 1, Eigen::DontAlign>;
+using Vector3r = Eigen::Matrix<Real, 3, 1, Eigen::DontAlign>;
+using Vector4r = Eigen::Matrix<Real, 4, 1, Eigen::DontAlign>;
+using Vector5r = Eigen::Matrix<Real, 5, 1, Eigen::DontAlign>;
+using Vector6r = Eigen::Matrix<Real, 6, 1, Eigen::DontAlign>;
+using Matrix2r = Eigen::Matrix<Real, 2, 2, Eigen::DontAlign>;
+using Matrix3r = Eigen::Matrix<Real, 3, 3, Eigen::DontAlign>;
+using Matrix4r = Eigen::Matrix<Real, 4, 4, Eigen::DontAlign>;
 using AlignedBox2r = Eigen::AlignedBox<Real, 2>;
 using AlignedBox3r = Eigen::AlignedBox<Real, 3>;
 using AngleAxisr = Eigen::AngleAxis<Real>;
-using Quaternionr = Eigen::Quaternion<Real>;
-
-//allocators to be used in STL collections containing Eigen structures
-using Alloc_Vector2r = Eigen::aligned_allocator<Vector2r>;
-using Alloc_Vector3r = Eigen::aligned_allocator<Vector3r>;
-using Alloc_Vector4r = Eigen::aligned_allocator<Vector4r>;
-using Alloc_Matrix2r = Eigen::aligned_allocator<Matrix2r>;
-using Alloc_Matrix3r = Eigen::aligned_allocator<Matrix3r>;
-using Alloc_Matrix4r = Eigen::aligned_allocator<Matrix4r>;
-using Alloc_AlignedBox2r = Eigen::aligned_allocator<AlignedBox2r>;
-using Alloc_AlignedBox3r = Eigen::aligned_allocator<AlignedBox3r>;
-using Alloc_AngleAxisr = Eigen::aligned_allocator<AngleAxisr>;
-using Alloc_Quaternionr = Eigen::aligned_allocator<Quaternionr>;
-
-#if EIGEN_ALIGN
-	#define PDB_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-	#define REPORT_MEMORY_LEAKS
-
-#if defined(WIN32) || defined(_WIN32) || defined(WIN64)
-#ifdef _DEBUG
-	// Enable memory leak detection for Eigen new
-	#undef PDB_MAKE_ALIGNED_OPERATOR_NEW
-	#define PDB_MAKE_ALIGNED_OPERATOR_NEW	EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
-		void *operator new(size_t size, int const block_use, char const*  file_name, int const line_number) { \
-		\
-			return _aligned_malloc_dbg(size, 16, file_name, line_number); \
-		} \
-		void *operator new[](size_t size, int const block_use, char const*  file_name, int const line_number) { \
-			return operator new(size, block_use, file_name, line_number); \
-		}\
-		void operator delete(void* block, int const block_use, char const*  file_name, int const line_number) { \
-		\
-			return _aligned_free_dbg(block); \
-		} \
-		void operator delete[](void* block, int const block_use, char const*  file_name, int const line_number) { \
-			return operator delete(block, block_use, file_name, line_number); \
-		}	
-#endif
-#endif
-#else
-	#define PDB_MAKE_ALIGNED_OPERATOR_NEW
+using Quaternionr = Eigen::Quaternion<Real, Eigen::DontAlign>;
 
 #if defined(WIN32) || defined(_WIN32) || defined(WIN64)
 	// Enable memory leak detection
@@ -97,8 +57,6 @@ using Alloc_Quaternionr = Eigen::aligned_allocator<Quaternionr>;
 #endif
 
 
-#endif
-
 #if defined(WIN32) || defined(_WIN32) || defined(WIN64)
 #define FORCE_INLINE __forceinline
 #else
diff --git a/Demos/BarDemo/CMakeLists.txt b/Demos/BarDemo/CMakeLists.txt
@@ -5,6 +5,7 @@ if(WIN32)
   set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
   set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
 else()
+  set(OpenGL_GL_PREFERENCE GLVND)
   find_package(GLUT REQUIRED)
   find_package(OpenGL REQUIRED)
 
diff --git a/Demos/ClothDemo/CMakeLists.txt b/Demos/ClothDemo/CMakeLists.txt
@@ -5,6 +5,7 @@ if(WIN32)
   set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
   set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
 else()
+  set(OpenGL_GL_PREFERENCE GLVND)
   find_package(GLUT REQUIRED)
   find_package(OpenGL REQUIRED)
 
diff --git a/Demos/CosseratRodsDemo/CMakeLists.txt b/Demos/CosseratRodsDemo/CMakeLists.txt
@@ -5,6 +5,7 @@ if(WIN32)
   set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
   set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
 else()
+  set(OpenGL_GL_PREFERENCE GLVND)
   find_package(GLUT REQUIRED)
   find_package(OpenGL REQUIRED)
 
diff --git a/Demos/CouplingDemos/CMakeLists.txt b/Demos/CouplingDemos/CMakeLists.txt
@@ -5,6 +5,7 @@ if(WIN32)
   set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
   set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
 else()
+  set(OpenGL_GL_PREFERENCE GLVND)
   find_package(GLUT REQUIRED)
   find_package(OpenGL REQUIRED)
 
diff --git a/Demos/DistanceFieldDemos/CMakeLists.txt b/Demos/DistanceFieldDemos/CMakeLists.txt
@@ -5,6 +5,7 @@ if(WIN32)
   set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
   set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
 else()
+  set(OpenGL_GL_PREFERENCE GLVND)
   find_package(GLUT REQUIRED)
   find_package(OpenGL REQUIRED)
 
diff --git a/Demos/FluidDemo/CMakeLists.txt b/Demos/FluidDemo/CMakeLists.txt
@@ -5,6 +5,7 @@ if(WIN32)
   set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
   set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
 else()
+  set(OpenGL_GL_PREFERENCE GLVND)
   find_package(GLUT REQUIRED)
   find_package(OpenGL REQUIRED)
 
diff --git a/Demos/GenericConstraintsDemos/CMakeLists.txt b/Demos/GenericConstraintsDemos/CMakeLists.txt
@@ -5,6 +5,7 @@ if(WIN32)
   set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
   set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
 else()
+  set(OpenGL_GL_PREFERENCE GLVND)
   find_package(GLUT REQUIRED)
   find_package(OpenGL REQUIRED)
 
diff --git a/Demos/PositionBasedElasticRodsDemo/CMakeLists.txt b/Demos/PositionBasedElasticRodsDemo/CMakeLists.txt
@@ -5,6 +5,7 @@ if(WIN32)
   set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
   set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
 else()
+  set(OpenGL_GL_PREFERENCE GLVND)
   find_package(GLUT REQUIRED)
   find_package(OpenGL REQUIRED)
 
diff --git a/Demos/RigidBodyDemos/CMakeLists.txt b/Demos/RigidBodyDemos/CMakeLists.txt
@@ -5,6 +5,7 @@ if(WIN32)
   set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
   set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
 else()
+  set(OpenGL_GL_PREFERENCE GLVND)
   find_package(GLUT REQUIRED)
   find_package(OpenGL REQUIRED)
 
diff --git a/Demos/SceneLoaderDemo/CMakeLists.txt b/Demos/SceneLoaderDemo/CMakeLists.txt
@@ -5,6 +5,7 @@ if(WIN32)
   set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
   set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
 else()
+  set(OpenGL_GL_PREFERENCE GLVND)
   find_package(GLUT REQUIRED)
   find_package(OpenGL REQUIRED)
 
diff --git a/Demos/StiffRodsDemos/CMakeLists.txt b/Demos/StiffRodsDemos/CMakeLists.txt
@@ -5,6 +5,7 @@ if(WIN32)
   set(SIMULATION_LINK_LIBRARIES freeglut opengl32.lib glu32.lib ${SIMULATION_LINK_LIBRARIES})
   set(SIMULATION_DEPENDENCIES freeglut ${SIMULATION_DEPENDENCIES})
 else()
+  set(OpenGL_GL_PREFERENCE GLVND)
   find_package(GLUT REQUIRED)
   find_package(OpenGL REQUIRED)
 
diff --git a/Demos/StiffRodsDemos/StiffRodsSceneLoader.h b/Demos/StiffRodsDemos/StiffRodsSceneLoader.h
@@ -21,7 +21,7 @@ namespace PBD
 			Real m_StartingTime;
 			Real m_EndingTime;
 			unsigned int m_Type;
-			std::vector<Vector3r, Alloc_Vector3r> m_Data;
+			std::vector<Vector3r> m_Data;
 		};
 
 		struct StretchBendingTwistingConstraintData
@@ -65,18 +65,18 @@ namespace PBD
 			Real m_TorsionModulus;
 			std::set<unsigned int> m_StaticSegments;
 			unsigned int m_SolverType;
-			std::vector<Vector3r, Alloc_Vector3r> m_SegmentPositions;
-			std::vector<Quaternionr, Alloc_Quaternionr> m_SegmentOrientations;
-			std::vector<Vector3r, Alloc_Vector3r> m_SegmentScales;
+			std::vector<Vector3r> m_SegmentPositions;
+			std::vector<Quaternionr> m_SegmentOrientations;
+			std::vector<Vector3r> m_SegmentScales;
 			std::vector<Real> m_SegmentDensities;
 			std::vector<std::string> m_SegmentModelFiles;
 			std::vector<Real> m_SegmentFrictionCoefficients;
 			std::vector<Real> m_SegmentRestitutioCoefficients;
 			std::vector<short> m_SegmentCollisionCategoryBits;
 			std::vector<short> m_SegmentCollisionFilterMaskBits;
-			std::vector<Vector3r, Alloc_Vector3r> m_SBTConstraintPositions;
+			std::vector<Vector3r> m_SBTConstraintPositions;
 			std::vector<std::vector<unsigned int>> m_SBTConstraintBodiesIndices;
-			std::vector<Vector3r, Alloc_Vector3r> m_SBTConstraintStiffnessModifier;
+			std::vector<Vector3r> m_SBTConstraintStiffnessModifier;
 		};
 
 		struct RodSceneData : public SceneLoader::SceneData{
@@ -115,4 +115,4 @@ namespace PBD
 	};
 }
 
-#endif
+#endif
diff --git a/PositionBasedDynamics/DirectPositionBasedSolverForStiffRodsInterface.h b/PositionBasedDynamics/DirectPositionBasedSolverForStiffRodsInterface.h
@@ -30,14 +30,14 @@ namespace PBD{
 	class RodConstraint
 	{
 	public:
-		using Vector6r = Eigen::Matrix<Real, 6, 1>;
+		using Vector6r = Eigen::Matrix<Real, 6, 1, Eigen::DontAlign>;
 		virtual unsigned int segmentIndex(unsigned int i) = 0;
-		virtual Eigen::Matrix<Real, 3, 4> & getConstraintInfo() = 0;
+		virtual Eigen::Matrix<Real, 3, 4, Eigen::DontAlign> & getConstraintInfo() = 0;
 		virtual Real getAverageSegmentLength() = 0;
 		virtual Vector3r &getRestDarbouxVector() = 0;
 		virtual Vector3r &getStiffnessCoefficientK() = 0;
 		virtual Vector3r & getStretchCompliance() = 0;
 		virtual Vector3r & getBendingAndTorsionCompliance() = 0;
 	};
 }
-#endif
+#endif
diff --git a/PositionBasedDynamics/PositionBasedDynamics.cpp b/PositionBasedDynamics/PositionBasedDynamics.cpp
@@ -1213,7 +1213,7 @@ bool PositionBasedDynamics::init_ParticleTetContactConstraint(
 	const Vector3r v[],								// velocities of tet particles
 	const Vector3r &bary,							// barycentric coordinates of contact point in tet
 	const Vector3r &normal,							// contact normal in body 1
-	Eigen::Matrix<Real, 3, 3> &constraintInfo)
+	Eigen::Matrix<Real, 3, 3, Eigen::DontAlign> &constraintInfo)
 {
 	// constraintInfo contains
 	// 0:	contact normal in body 1 (global)
@@ -1257,7 +1257,7 @@ bool PositionBasedDynamics::solve_ParticleTetContactConstraint(
 	const Real invMass[],							// inverse masses of tet particles
 	const Vector3r x[],								// positions of tet particles
 	const Vector3r &bary,							// barycentric coordinates of contact point in tet
-	Eigen::Matrix<Real, 3, 3> &constraintInfo,		// precomputed contact info
+	Eigen::Matrix<Real, 3, 3, Eigen::DontAlign> &constraintInfo,		// precomputed contact info
 	Real &lambda,
 	Vector3r &corr0,
 	Vector3r corr[])
@@ -1316,7 +1316,7 @@ bool PositionBasedDynamics::velocitySolve_ParticleTetContactConstraint(
 	const Vector3r &bary,							// barycentric coordinates of contact point in tet
 	const Real lambda, 
 	const Real frictionCoeff,						// friction coefficient
-	Eigen::Matrix<Real, 3, 3> &constraintInfo,		// precomputed contact info
+	Eigen::Matrix<Real, 3, 3, Eigen::DontAlign> &constraintInfo,		// precomputed contact info
 	Vector3r &corr_v0,
 	Vector3r corr_v[])
 {
diff --git a/PositionBasedDynamics/PositionBasedDynamics.h b/PositionBasedDynamics/PositionBasedDynamics.h
@@ -473,7 +473,7 @@ namespace PBD
 			const Vector3r v[],								// velocities of tet particles
 			const Vector3r &bary,							// barycentric coordinates of contact point in tet
 			const Vector3r &normal,							// contact normal in body 1
-			Eigen::Matrix<Real, 3, 3> &constraintInfo);
+			Eigen::Matrix<Real, 3, 3, Eigen::DontAlign> &constraintInfo);
 
 
 		/** Perform a solver step for a contact constraint between a particle and a tetrahedron.
@@ -496,7 +496,7 @@ namespace PBD
 			const Real invMass[],							// inverse masses of tet particles
 			const Vector3r x[],								// positions of tet particles
 			const Vector3r &bary,							// barycentric coordinates of contact point in tet
-			Eigen::Matrix<Real, 3, 3> &constraintInfo,		// precomputed contact info
+			Eigen::Matrix<Real, 3, 3, Eigen::DontAlign> &constraintInfo,		// precomputed contact info
 			Real &lambda,
 			Vector3r &corr0,
 			Vector3r corr[]);
@@ -528,10 +528,10 @@ namespace PBD
 			const Vector3r &bary,							// barycentric coordinates of contact point in tet
 			const Real lambda,
 			const Real frictionCoeff,						// friction coefficient
-			Eigen::Matrix<Real, 3, 3> &constraintInfo,		// precomputed contact info
+			Eigen::Matrix<Real, 3, 3, Eigen::DontAlign> &constraintInfo,		// precomputed contact info
 			Vector3r &corr_v0,
 			Vector3r corr_v[]);
 	};
 }
 
-#endif
+#endif
diff --git a/PositionBasedDynamics/PositionBasedElasticRods.cpp b/PositionBasedDynamics/PositionBasedElasticRods.cpp
@@ -747,7 +747,7 @@ Real PBD::DirectPositionBasedSolverForStiffRods::factor(const int intervalIndex,
 		const Quaternionr &q0 = segment0->Rotation();
 		const Quaternionr &q1 = segment1->Rotation();
 
-		const Eigen::Matrix<Real, 3, 4> &constraintInfo(currentConstraint->getConstraintInfo());
+		const Eigen::Matrix<Real, 3, 4, Eigen::DontAlign> &constraintInfo(currentConstraint->getConstraintInfo());
 		Vector6r &rhs(RHS[currentConstraintIndex]);
 
 		// Compute zero-stretch part of constraint violation
@@ -837,7 +837,7 @@ Real PBD::DirectPositionBasedSolverForStiffRods::factor(const int intervalIndex,
 					sign = -1;
 				}
 
-				const Eigen::Matrix<Real, 3, 4> &constraintInfo(constraint->getConstraintInfo());
+				const Eigen::Matrix<Real, 3, 4, Eigen::DontAlign> &constraintInfo(constraint->getConstraintInfo());
 				const Vector3r r = constraintInfo.col(2 + segmentIndex) - segment->Position();
 				Matrix3r r_cross;
 				Real crossSign(-static_cast<Real>(1.0)*sign);
@@ -868,7 +868,7 @@ Real PBD::DirectPositionBasedSolverForStiffRods::factor(const int intervalIndex,
 					sign = -1;
 				}
 
-				const Eigen::Matrix<Real, 3, 4> &constraintInfo(constraint->getConstraintInfo());
+				const Eigen::Matrix<Real, 3, 4, Eigen::DontAlign> &constraintInfo(constraint->getConstraintInfo());
 				const Vector3r r = constraintInfo.col(2 + segmentIndex) - segment->Position();
 				Matrix3r r_crossT;
 				MathFunctions::crossProductMatrix(sign*r, r_crossT);
@@ -1141,7 +1141,7 @@ bool PBD::DirectPositionBasedSolverForStiffRods::init_StretchBendingTwistingCons
 	const Real averageSegmentLength, 
 	const Real youngsModulus, 
 	const Real torsionModulus, 
-	Eigen::Matrix<Real, 3, 4> &constraintInfo, 
+	Eigen::Matrix<Real, 3, 4, Eigen::DontAlign> &constraintInfo, 
 	Vector3r &stiffnessCoefficientK, 
 	Vector3r &restDarbouxVector
 	)
@@ -1207,7 +1207,7 @@ bool PBD::DirectPositionBasedSolverForStiffRods::initBeforeProjection_StretchBen
 bool PBD::DirectPositionBasedSolverForStiffRods::update_StretchBendingTwistingConstraint(
 	const Vector3r &x0, const Quaternionr &q0, 
 	const Vector3r &x1, const Quaternionr &q1, 
-	Eigen::Matrix<Real, 3, 4> &constraintInfo
+	Eigen::Matrix<Real, 3, 4, Eigen::DontAlign> &constraintInfo
 	)
 {
 	// constraintInfo contains
@@ -1238,7 +1238,7 @@ bool PBD::DirectPositionBasedSolverForStiffRods::solve_StretchBendingTwistingCon
 	const Real averageSegmentLength, 
 	const Vector3r &stretchCompliance, 
 	const Vector3r &bendingAndTorsionCompliance, 
-	const Eigen::Matrix<Real, 3, 4> &constraintInfo,
+	const Eigen::Matrix<Real, 3, 4, Eigen::DontAlign> &constraintInfo,
 	Vector3r &corr_x0, Quaternionr &corr_q0, 
 	Vector3r &corr_x1, Quaternionr &corr_q1, 
 	Vector6r &lambdaSum
diff --git a/PositionBasedDynamics/PositionBasedElasticRods.h b/PositionBasedDynamics/PositionBasedElasticRods.h
diff --git a/PositionBasedDynamics/PositionBasedRigidBodyDynamics.cpp b/PositionBasedDynamics/PositionBasedRigidBodyDynamics.cpp
diff --git a/PositionBasedDynamics/PositionBasedRigidBodyDynamics.h b/PositionBasedDynamics/PositionBasedRigidBodyDynamics.h
diff --git a/Simulation/Constraints.h b/Simulation/Constraints.h
diff --git a/Utils/IndexedFaceMesh.h b/Utils/IndexedFaceMesh.h
diff --git a/Utils/SceneLoader.cpp b/Utils/SceneLoader.cpp
diff --git a/Utils/SceneLoader.h b/Utils/SceneLoader.h
