[ODE] ODE's Jacobian matrices

[Gary R. Van Sickle]

> Cline mentions that it
> is not exactly true that dC(q)/dt = J * v, but sadly,
> doesn't explain why.  He just says as long as the
> constraint's "rotational error is small", it is a good
> approximation.

IIRC, this has something to do with sin(x) ~= x for small |x|.  When x isn't
small, craziness ensues.

--
Gary R. Van Sickle
Brewer.  Patriot.