Why do we need two constraints to calculate friction force? $$ \begin{align} K_{fric_1} &= J_{fric_1}M^{-1}J^T_{fric_1} \\ &=(-u^T_1 -(r_1 \times u_1)^T u^T_1 )(r_2 \times u_1)^T) \\ K_{fric_2} &= J_{fric_2}M^{-1}J^T_{fric_2} \\ &=(-u^T_2 -(r_1 \times u_2)^T u^T_2 )(r_2 \times u_2)^T) \end{align} $$
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1\$\begingroup\$ I’m voting to close this question because, as it's currently written, it would be a better fit on Physics Stack Exchange. \$\endgroup\$liggiorgio– liggiorgio2024-02-10 11:46:07 +00:00Commented Feb 10, 2024 at 11:46
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1\$\begingroup\$ Consider that most game developers have not been looking at these equations as freshly as you have — most of us only touch this math on the rare instances where we're implementing a new physics engine or debugging one. The rest of the time, they're out of sight and out of mind as the physics engine does its work. So if you want a game developer's answer to this, it would help to edit your question to include a bit more background on these formulas, where you found/derived them, and what each symbol represents in that context. \$\endgroup\$DMGregory– DMGregory ♦2024-02-10 12:49:45 +00:00Commented Feb 10, 2024 at 12:49
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