Years from now, when I find this post, I’ll remember how I poured three months of my life into this project. It diverted me a bit from my thesis work. Some insist it was a waste of my time. Lazy and short-sighted they are though. I thrive on the challenge of solving problems; it is how I learn. And my appetite for learning seems only to grow as I grow older.
Project keywords: rigid-body dynamics, explicit constraints, implicit constraints, constraint stabilization, Jacobian, inertia matrix, rotation matrices, singularities, non-invertible, quaternion rotation, dynamical system, 4th-order Runge-Kutta solver.
