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dilevin / CSC417-a6-rigid-body-contact

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How are C^A and C^B defined? #1

Open AtheMathmo opened 4 years ago

AtheMathmo commented 4 years ago

The Projected Gauss-Siedel algorithm introduces G(C^A) and G(C^B). How are these points defined?

AtheMathmo commented 4 years ago

I think that C^A and C^B refer to the contact points of A and B respectively. Maybe the notation is a bit clearer if we use Z^A_c and make the sum for b_{i-1} and b_{i+1} use c' instead of lowercase z (with corresponding Z^A_{c'})?

dilevin commented 4 years ago

G(C^A) is the rigid body jacobian of body A evaluated at contact point A