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Line 3: '''Featherstone's algorithm''' is a technique used for computing the effects of forces applied to a structure of joints and links (an "open kinematic chain") such as a [[skeleton]] used in [[ragdoll physics]]. The Featherstone's algorithm uses a reduced coordinate representation. This is in contrast to the more popular [[Lagrange multiplier method]], which uses maximal coordinates. [http://www.kuffner.org/james/software/dynamics/mirtich/ Brian Mirtich's PhD Thesis] has a very clear and detailed description of the algorithm. Baraff's paper [http://www.cs.cmu.edu/~baraff/papers/index.html "Linear-time dynamics using Lagrange multipliers"] has a discussion and comparison of both ~~algorithms~~[[algorithm]]s. ==References==

Featherstone's algorithm: Difference between revisions