Real-Time Physics Simulation Forum

I read the position correction introduction : http://www.gphysics.com/archives/35
They really help a lot. But I don't know what exactly the algorithms are.
Could you please help me provide some more detailed materials introducing these algorithms?
Thanks a lot!

You need to use the outer product: v * transpose(v) This is very true. J v = [1 0 -r.y][v.x] = [v.x - r.y * omega, v.y + r.x * omega] [0 1 r.x][v.y] [omega] J JT = [1 0 -r.y][1 0] = [1 + r.y * r.y][0 + -r.y * r.x] [0 1 r.x][0 1] [0 + -r.y * r.x][1 + r.x * r.x] [-r.y r.x] Thanks a lot

J = [ -I, -(-r1.y i, r1.x j), I , (-r2.y i, r2.x j)] K = J M-1 JT And the result is K = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)] = [1/m1+1/m2 0 ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y] [ 0 1/m1+1/m2] [-r1.x*r1.y r1.x*r1.x] [-r1.x...