minor cleanup

.vscode/launch.json

@@ -0,0 +1,44 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "CMake Debug",
+      "type": "cppdbg",
+      "request": "launch",
+      // "program": "${command:cmake.launchTargetPath}",
+      "program": "${workspaceFolder}/build/examples/ExampleBrowser/App_ExampleBrowser",
+      "args": ["--start_demo_name=BasicRD"],
+      "stopAtEntry": false,
+      "cwd": "${workspaceFolder}/build/examples/ExampleBrowser",
+      "environment": [
+        {
+            // add the directory where our target was built to the PATHs
+            // it gets resolved by CMake Tools:
+            "name": "PATH",
+            "value": "$PATH:${command:cmake.launchTargetDirectory}"
+        }
+      ],
+      "externalConsole": false,
+      "MIMode": "lldb",
+      "setupCommands": [
+          {
+              "description": "Enable pretty-printing for gdb",
+              "text": "-enable-pretty-printing",
+              "ignoreFailures": true
+          }
+      ]
+    },
+    {
+      "name": "CodeLLDB",
+      "type": "lldb",
+      "request": "launch",
+      "stopOnEntry": true,
+      "cwd": "${workspaceFolder}/build/examples/ExampleBrowser",
+      "program": "${workspaceFolder}/build/examples/ExampleBrowser/App_ExampleBrowser",
+      "args": ["--start_demo_name=BasicRD"],
+    }
+  ]
+}

src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp

@@ -193,7 +193,6 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero
 				static bool apply_impulse = true;
 				if (psb->m_reducedModel && apply_impulse && sim_time > 1)
 				{
-					sim_time += m_dt;
 					apply_impulse = false;
 
 					btScalar f_imp = psb->m_nodes[i].m_im * (target_vel - psb->m_nodes[0].m_v[1]) / m_dt;

src/BulletSoftBody/btSoftBody.h

@@ -862,11 +862,8 @@ public:
 	btAlignedObjectArray<btScalar> m_x0;									 // Rest position
 	btAlignedObjectArray<btScalar> m_eigenvalues;		// eigenvalues of the reduce deformable model
 	tDenseMatrix m_modes;														// modes of the reduced deformable model. Each inner array is a mode, outer array size = n_modes
-	tDenseMatrix m_KrDense;													// reduced stiffness matrix (dense)
-	tDenseMatrix m_MrDense;													// reduced mass matrix (dense)
 	btAlignedObjectArray<btScalar> m_Kr;	// reduced stiffness matrix
 	btAlignedObjectArray<btScalar> m_Mr;	// reduced mass matrix //TODO: do we need this?
-	btAlignedObjectArray<btScalar> m_M;		// full mass matrix //TODO: maybe don't need this?
 	//
 	// Api
 	//