Hi, I'm reading the PHD Thesis "Stable, Robust, and Versatile Multibody Dynamics Animation
" of Kenny Erleben in order to implement a rigid body framework.
There is something I don't understand. At the page 99 there is the complete LCP problem formulation (see expression 4.216). Inside this expression, there is some matrices called A_aux
and a vector called b_aux
At the page 100, it's written that A_aux
correspond to a permutation of the third row and column in 4.61. What does this mean ? I don't understand what are the exact expressions for the A_aux
matrix and the b_aux
Could anyone help me to understand what should be put in the matrix A_aux and in the vector b_aux ?
Thanks in advance.