I'm trying to realize collision detection myself and the term C^T * dq is required.
However, the model handle getCoriolis can only return Coriolis force, but not Coriolis matrix C.
Of course, I can calculate C^T dq by C^T dq =\dot{M} * dq - Coriolis force, but is there more direct way to get it?
I'm trying to realize collision detection myself and the term C^T * dq is required. However, the model handle getCoriolis can only return Coriolis force, but not Coriolis matrix C.
Of course, I can calculate C^T dq by C^T dq =\dot{M} * dq - Coriolis force, but is there more direct way to get it?