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const int kSize = 3*m_nodes.size(); ublas::generalized_vector_of_vector<btScalar, ublas::row_major, ublas::vector<ublas::compressed_vector<btScalar> > > RKR_1(kSize, kSize); ublas::generalized_vector_of_vector<btScalar, ublas::row_major, ublas::vector<ublas::compressed_vector<btScalar> > > RK(kSize, kSize); for(int i=0; i<m_tetrahedrons.size(); ++i) { btTetrahedron* t = m_tetrahedrons[i]; t->computeCorotatedStiffness(); for(unsigned int j=0; j<12; ++j) for(unsigned int k=0; k<12; ++k) { RKR_1(t->getGlobalIndex(j), t->getGlobalIndex(k)) += t->getCorotatedStiffness0(j, k); RK(t->getGlobalIndex(j), t->getGlobalIndex(k)) += t->getCorotatedStiffness1(j, k); } } m_RKR_1 = RKR_1; m_RK = RK;
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