complementary-dynamics-cpp

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Dear authors, thanks a lot for providing the code of complementary dynamics. I find that after constructing the mass matriix, it is multiplied by 1000, as shown below: https://github.com/seungbaebang/complementary-dynamics-cpp/blob/a80f9579d714352fe541518cf89554d62b72a4f4/demo/complementary_dynamics.cpp#L142 Can...

guohaoxiang

Before running the code, you need to set up the following: Compile static library with Bartels: libbartels cd Bartles mkdir build cd build cmake .. -Dbartels_USE_STATIC_LIBRARY=ON make -j8 Compile static...

xuanshenhua