[constraint] Add the option to normalize the compliance block matrix before inversion#26
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Co-authored-by: erik pernod <erik.pernod@gmail.com>
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More of a hack, less of a fix, to be used for some particular cases.
Depending on how the scene is set up (i.e. scaling, physical parameters, units) the block with the compliances might have a low-magnitude determinant. In
invertMatrix()there is a check for that magnitude. If it's too small, it gets rejected and we end up with a null matrix.Normally, we should build scenes properly and scale them well. However there can be situations where this is not possible (Unity pipeline, haptics scale etc). So the PR adds the option to scale the matrix before inverting it. Default is false.