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Featherstone's algorithm IS a generalized coordinates approach...see the abstract of Mirtich's thesis. |
→External links: It's "Lagrange multiplier" |
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* [http://www.thyrix.com/documentation/featherstone_method.php Description and references]
*[http://www.kuffner.org/james/software/dynamics/mirtich/ Mirtich's Thesis]
*[http://www.cs.cmu.edu/~baraff/papers/index.html Baraff's
==References==
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