//http://bulletphysics.org/mediawiki-1.5.8/index.php/Bullet_binary_serialization
????Then?serialize?the?simulation?to?a?.bullet?file?right?before?things?go?wrong.?See?http://bulletphysics.org/mediawiki-1.5.?...?ialization
????Then?load?the?serialized?.bullet?file?in?the?Bullet?SerializeDemo?（with?softbody?enabled）?and?see?if?it?happens?there?too.
????Then?file?an?issue?in?the?issue?tracker.
紅：X
綠：Y
藍：Z

https://pybullet.org/Bullet/phpBB3/index.php
	??steven/lsj7124254

Eigen是一個高層次的C?++庫，有效支持線性代數，矩陣和矢量運算，數值分析及其相關的算法。
Eigen是一個開源庫，從3.1.1版本開始遵從MPL2許可
https://www.codecogs.com/latex/eqneditor.php
	????equation?to?image
	????
.?PSolve_SContacts
.?PSolve_links
.?//self?collisions
.?use_volume?=?as_pressure?||?as_volume
.?PolarDecompose
.?btSoftBody::setPose
	
	
Quaternion
HULL
convex?凸的

debug:
	??#0??GLDebugDrawer::drawLine?（this=0x820630?from=...?to=...?fromColor=...?toColor=...）?at?/home/shjliu/workspace/EPR/bullet3/Demos/OpenGL/GLDebugDrawer.cpp:22
		#1??0x0000000000483769?in?GLDebugDrawer::drawLine?（this=0x820630?from=...?to=...?color=...）?at?/home/shjliu/workspace/EPR/bullet3/Demos/OpenGL/GLDebugDrawer.cpp:31
		#2??0x0000000000484ee9?in?btIDebugDraw::drawTransform?（this=0x820630?transform=...?orthoLen=20）?at?/home/shjliu/workspace/EPR/bullet3/src/LinearMath/btIDebugDraw.h:142
		#3??0x0000000000513973?in?btCollisionWorld::debugDrawWorld?（this=0x94edd0）?at?/home/shjliu/workspace/EPR/bullet3/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp:1431
		#4??0x00000000004ee60c?in?btDiscreteDynamicsWorld::debugDrawWorld?（this=0x94edd0）?at?/home/shjliu/workspace/EPR/bullet3/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp:286
		#5??0x00000000004cf62e?in?btSoftRigidDynamicsWorld::debugDrawWorld?（this=0x94edd0）?at?/home/shjliu/workspace/EPR/bullet3/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp:160
????????0x000000000047b1c5?in?SoftDemo::renderme?（this=0x943380）?at?/home/shjliu/workspace/EPR/bullet3/Demos/SoftDemo/SoftDemo.cpp:1751
????????	
????btSoftBodyHelpers::Draw（）
?
????#0??btSoftBodyHelpers::Draw?（psb=0x959a60?idraw=0x821630?drawflags=4302）?at?/home/shjliu/workspace/EPR/bullet3/src/BulletSoftBody/btSoftBodyHelpers.cpp:258
????#1??0x000000000047b2ee?in?SoftDemo::renderme?（this=0x943380）?at?/home/shjliu/workspace/EPR/bullet3/Demos/SoftDemo/SoftDemo.cpp:1765
????#2??0x000000000047b106?in?SoftDemo::clientMoveAndDisplay?（this=0x943380）?at?/home/shjliu/workspace/EPR/bullet3/Demos/SoftDemo/SoftDemo.cpp:1719

????main.cpp
??????GLDebugDrawer???gDebugDrawer;
??????softDemo->getDynamicsWorld（）->setDebugDrawer（&gDebugDrawer）;
????
????btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld
????{
?????????m_drawFlags??=??fDrawFlags::Std
?????????m_drawNodeTree??????????=???????true;
?????????m_drawFaceTree??????????=???????false;
?????????m_drawClusterTree???????=???????false;	
????}

https://blog.csdn.net/seamanj/article/details/38553491
??首先對比一下PDF與FEM之間的關系?
	????PBD是預估點的下一位置，然后通過cons