Collision-Aware and Online Compression of Rigid Body Simulations via Integrated Error Minimization

Integrating with existing code from Collision-Aware and Online Compression of Rigid Body Simulations via Integrated Error Minimization.

Project URL: Collision-Aware and Online Compression of Rigid Body Simulations via Integrated Error Minimization

The original formula:

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The original source code:

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The modified source code:

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I❤️LA source code:

invLhs = [TTT          (constraints)^T
         constraints          0      ]^(-1)

where

TTT ∈ ℝ^(n×n) 
constraints ∈ ℝ^(m×n) 

I❤️LA LaTeX output: