[ODE] Joint mathematics

[Ignacio García Fernández]

On Fri, Dec 05, 2003 at 05:42:38PM +0200, Denis Bolkovskis wrote:
> Hi all,
> I am currently writing Master thesis on rigid body dynamics 
> simulation and I am interested in mathematics behind joints in ODE. 
> ODE documentation briefly explains how constraint equations are 
> constructed, but there is no hint on how they are solved. 
> I do not expect someone to start explaining this topic directly in 
> mailing list, but if someone could provide me with some references 
> to materials about this topic, I would be very grateful.
> 

You can find a set of manuals by Baraff in the internet. I Don't know
the reference right now, but you'll find it easilly seaching in google.

Regards


-- 
May the source be with you
--------------------------------------------------------------------
Ignacio García Fernández                       Instituto de Robótica
ignacio.garcia_at_uv.es                      Universidad de Valencia
http://robotica.uv.es/~ignacio/                     Tlf. 96 354 3564