Constraints to Jacobian I was reading this article: http://bit.ly/2ahWrUg and it is missing the derivation of a Jacobian. Can somebody please do the derivation of the Jacobian with two equality constraints for double pendulum? I want to simulate double pendulum by using force-based approach with system solver, not the iterative approach. https://ift.tt/eA8V8J

I was reading this article: http://bit.ly/2ahWrUg and it is missing the derivation of a Jacobian. Can somebody please do the derivation of the Jacobian with two equality constraints for double pendulum? I want to simulate double pendulum by using force-based approach with system solver, not the iterative approach.

from GameDev.net http://bit.ly/2WjAJlE