From 939eeb88d81b173ff7582a1e5612ec77805562c4 Mon Sep 17 00:00:00 2001
From: Eulalie Coevoet <eulalie.coevoet@gmail.com>
Date: Mon, 29 Jan 2024 12:19:54 +0100
Subject: [PATCH] [model] missing normalize force direction

---
 .../component/constraint/model/CableModel.inl          | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/src/SoftRobots/component/constraint/model/CableModel.inl b/src/SoftRobots/component/constraint/model/CableModel.inl
index f113e1f5..638dee2b 100644
--- a/src/SoftRobots/component/constraint/model/CableModel.inl
+++ b/src/SoftRobots/component/constraint/model/CableModel.inl
@@ -208,7 +208,6 @@ void CableModel<DataTypes>::bwdInit()
         return;
     }
             
-
     // The initial length of the cable is set or computed in bwdInit so the mapping (if there is any)
     // will be considered
 
@@ -443,7 +442,6 @@ void CableModel<DataTypes>::computePointsActionArea()
             computeBarycentric(closestTriangle, closestProjectionOnTriangle, m_alphaBarycentric[i], m_betaBarycentric[i]);
             m_closestTriangle[i] = closestTriangle;
 
-
         }
         else
         {
@@ -646,7 +644,6 @@ void CableModel<DataTypes>::buildConstraintMatrix(const ConstraintParams* cParam
 
     if(!m_hasSlidingPoint)
     {
-
         if ( d_hasPullPoint.getValue())
         {
             Deriv direction = DataTypes::coordDifference(d_pullPoint.getValue(),positions[d_indices.getValue()[0]]);
@@ -678,7 +675,6 @@ void CableModel<DataTypes>::buildConstraintMatrix(const ConstraintParams* cParam
                 for(unsigned int j=0; j<m_areaIndices[0].size(); j++)
                     rowIterator.setCol(m_areaIndices[1][j], - direction*m_ratios[0][j]);
             }
-            
         }
     }
     else
@@ -707,6 +703,7 @@ void CableModel<DataTypes>::buildConstraintMatrix(const ConstraintParams* cParam
                 directionAhead.normalize();
 
                 Deriv slidingDirection = directionBeyond - directionAhead;
+                slidingDirection.normalize();
                 if (d_hasPullPoint.getValue())
                 {
                     if (id_method == 0)
@@ -749,6 +746,7 @@ void CableModel<DataTypes>::buildConstraintMatrix(const ConstraintParams* cParam
                 directionAhead.normalize();
 
                 Deriv slidingDirection = directionBeyond - directionAhead;
+                slidingDirection.normalize();
 
                 if (id_method == 0)
                     rowIterator.setCol(currentIndex, slidingDirection);
@@ -756,9 +754,7 @@ void CableModel<DataTypes>::buildConstraintMatrix(const ConstraintParams* cParam
                 {
                     for(unsigned int j=0; j<m_areaIndices[i].size(); j++)
                         rowIterator.setCol(m_areaIndices[i][j], slidingDirection*m_ratios[i][j]);
-                }
-
-                
+                }                
             }
             else // end point of the cable
             {