From 93835c195b65a61a066ef609fec21c2e8333aa3d Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan2015@u.northwestern.edu>
Date: Thu, 31 Oct 2019 12:57:19 -0700
Subject: [PATCH] turn off SVD

---
 src/BulletSoftBody/btDeformableNeoHookeanForce.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h
index 29664c62c..f607b8662 100644
--- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h
+++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h
@@ -175,6 +175,7 @@ public:
                 btSoftBody::Tetra& tetra = psb->m_tetras[j];
                 btMatrix3x3 P;
                 firstPiola(psb->m_tetraScratches[j],P);
+#if USE_SVD
                 if (max_p > 0)
                 {
                     // since we want to clamp the principal stress to max_p, we only need to
@@ -199,6 +200,7 @@ public:
                         P = U * Sigma * V.transpose();
                     }
                 }
+#endif
 //                btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col);
                 btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose();
                 btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col;