c6a65ff5b8cfe2ee98d91e48a69d8592b2fca783
constraining. The algorithm is described in the paper "Large Steps in Cloth Simulation" (Baraff/Witkin 1998). The same method was (incorrectly) implemented in the old cloth solver. It is based on restricting the degrees of freedom (ndof) of vertices using a block matrix and a vector of target velocity deltas. See chapter 5 of the paper for details.
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