Maybe an error in Bender&Trinkle's recent paper?
Posted: Sun Nov 18, 2012 12:46 pm
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?
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?