[ODE] Help with joint Constraint forces

[Mostafa Ashour]

--- Mostafa Ashour <mashour at yahoo.com> wrote:
> Date: Mon, 28 Jun 2004 08:11:23 -0700 (PDT)
> From: Mostafa Ashour <mashour at yahoo.com>
> Subject: Help with joint Constraint forces
> To: ode at q12.org
> 
>   I am having trouble understanding how ode computes
> the joint constraint forces. Here is what I
> understand
> till now, please correct me if i am wrong.
> 
> The equation used is:
>   J1*v1 + Ohm1 * Omega1 + J2*v2 + Ohm2* Omega2= c+
> C*lambda
> 
> J1,J2,Ohm1,Ohm2 vary according to the type of joint,
> so does c and C. Am I solving the equation for
> lambda?
> If yes, what is lambda? and how does it relate to
> the
> force acting on the two bodies to preserve the joint
> constraints ?  If no, then what am I solving for?
> Please reply to the mailing list and to my email
> address just in case.
> 
> Thanks,
> Mostafa Ashour
> 
> 
> 
> 		
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