I am reading Bender&Trinkle's recent paper ' Interactive Simulation of Rigid Body Dynamics in Computer Graphics' . This paper could be found here : https://code.google.com/p/bullet/downlo ... e=STAR.pdf
The Equation(28) of this paper is slightly different, from equation(20) from an earlier paper from Trinkle 'Formulation of Multibody Dynamics As Complementarity Problems'. PDF version can be found here:https://www.cs.rpi.edu/twiki/pub/Roboti ... detc03.pdf
Both of these equations are derived by differentiating the holonomic constraint twice with respect to t. I can understand equation(20) of the DETC2003 paper with no problem. But equation(28) of Bender&Trinkle's paper, I think it is flawed. Here is my reasoning:https://skydrive.live.com/?cid=98b8c437 ... 7E3E51!672
So, any clue?
Maybe an error in Bender&Trinkle's recent paper?
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Re: Maybe an error in Bender&Trinkle's recent paper?
There could be a typo in equation 28 of the paper.
Can you replace the first term of k
by
and see if that helps?
Thanks!
Erwin
Can you replace the first term of k
Code: Select all
dC/dq dH/dt
Code: Select all
d( dC/dq H )/dt
Thanks!
Erwin
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Re: Maybe an error in Bender&Trinkle's recent paper?
Yes, d(dC/dq H)/dt should be correct, as far as I can tell.
Erwin Coumans wrote:There could be a typo in equation 28 of the paper.
Can you replace the first term of kbyCode: Select all
dC/dq dH/dt
and see if that helps?Code: Select all
d( dC/dq H )/dt
Thanks!
Erwin