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ENH: Handling for Tet Inversion

Jacob Moore requested to merge feature/InversionHandling into master

This modification allows inverted tets to correct their orientation. It uses the method described by Irving et. al. in "Invertible Finite Elements For Robust Simulation of Large Deformation". The basic idea is to decompose the deformation gradient into its singular values and modify both the singular values and the associated rotation matrices such that the resulting strain energy causes the element to right itself. The test creates a single tet element, inverts it, and runs the simulation for three seconds and checks to see if the element has un-inverted itself. Also, minor documentation fixes.

PR Checklist

  • No API changes were made (or the changes have been approved)
  • No major design changes were made (or the changes have been approved)
  • No new dependecies were added (or the new dependencies have been approved)
  • Added test (or behavior not changed)
  • Updated API documentation (or API not changed)
  • Ran the CodeFormatEnforcer task and verified the license header is in all new files
  • Added iMSTK examples for all new major features (if any)
  • All test pass
Edited by Andrew Wilson

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