Open AtheMathmo opened 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'}
)?
G(C^A) is the rigid body jacobian of body A evaluated at contact point A
The Projected Gauss-Siedel algorithm introduces
G(C^A)
andG(C^B)
. How are these points defined?