
Book Corrections Organized by Date of Change


12 Feb 2022, page 232.
Equation (5.55) is not correct as stated. The displacement x is
rotated to a displacement y = R^{T}x, but the velocity
vector must be rotated similarly, say, s = R^{T}v, and
the error vector must be rotated, say, φ = R^{T}ε.
Equation (5.54) is v(p+x) = v(p) + α
× x + Ex + ε which is multiplied first by
R^{T} followed by the algebraic manipulations indicated on page 232:
s(p+Ry) = s(p) + β×y + E'y + φ
The enumerated list of 3 items is about quantities relative to the displacement
y and should say (1) s(p) represents a linear translation
in p, (2) β × y is a velocity that corresponds
to rotation about a line with direction β and containing p,
and (3) E'y = e_{0}y_{0} + e_{1} y_{1} +
e_{2} y_{2} is a velocity that represents stretching the volume
at p and is called pure strain.


26 Nov 2017, page 832.
Example 14.3 claims that there is a cycle in the LCP iterations. This is
incorrect. It is true that one of the variables enters the dictionary a
second time, but this can happenit is not the definition of a cycle.
The correct definition of a cycle is that the tableau formed by q and M
repeats, which is not the case for this example. Several more iterations
in the example finally leads to a terminal dictionary. The LCP solution is
w = (0,0,0,3/4,0) and z = (1/4,9/4,1/2,0,1/2). Apparently cycling is a
rare event; I have been unable to create an example where this happens
when using the minratio algorithm for selecting variables that leave
the dictionary.


26 Nov 2017, page 837.
The Section 14.2.3 title should say "The Complementary Variable Cannot
Enter the Dictionary".


14 Dec 2013, page 506.
The last else clause of the pseudocode has a division by Length(ci.N). The
division should be by Length(Cross(ci.EA,ci.EB)). This follows because of
the definition of N(t) and L(t) in the paragraph after Equation (6.100).


24 Jun 2012, page 490.
The second displayed equation array has "(0,lambda)+(4*lambda/5,lambda/5)"
that should be "(0,lambda)+(4*lambda/5,2*lambda/5)"; however, the last
equation of the array is correct. The third displayed equation array has
"(lambda/10,4*lambda/5)" that should be "(lambda/10,3*lambda/10)"; however,
this is still consistent with the postcollision motion to the right and
downward.


19 Feb 2012, page 747.
The second line from the top of the page mentions the initial
condition "dot(theta)". This should be "dot(theta) = 0".


19 Jun 2011, page 496.
The discussion at the end of the page shows how to formulate the velocity
update as a convex quadratic programming problem to minimize the squared
length of (Af+b). This may be equivalently handled by trying to solve
for (Af+b = 0) on the convex polytope domain. You may use GaussSeidel
iteration with projection (iterative method) rather than LCP (global method).
A new exercise: Show that in Example 6.6 (rectangle contacting two immovable
lines), the squared length minimum is zero, occurs on the boundary of the
convex polygon domain, and the postimpulse velocity is computed from the
preimpulse velocity by negating the preimpulse speeds in the normal
directions at the contact points.


19 Jun 2011, pages 492493.
There are several notational errors due to using calligraphy font for
points and bold font for vectos. The first line of page 492 has
dot(P_{B}) = O, where O is the origin.
However, the derivative of the (point) position is a vector, so it
should be dot(P_{B}) = O, where the righthand
side denotes the zero vector. In the first displayed equation on
page 492, the subtraction of the origin is incorrect, because the
derivatives of the (point) positions are vectors. The equation should be
dot(P)^{+}_{A} = dot(P)^{}_{A} + f(...)
The two lines after this displayed equation also need the origin symbols
removed
dot(d)^{} = N_{0} • dot(P)^{}_{A} and
dot(d)^{+} = N_{0} • dot(P)^{+}_{A}
Page 493 has the same issue with the first displayed equation and two dot
products in the text below the displayed equation. The origin symbols
should be removed.


04 Jun 2011, page 86.
The sentence "In the case of dynamics, we are specifying the
acceleration and must integrate to obtain the velocity and acceleration"
should end with "to obtain the velocity and position".


16 Apr 2011, page 179.
A sentence below Figure 4.9 says "Control points 2 and 6 move...". This
should be "Control points 2 and 10 move...".


16 Apr 2011, page 518.
In the paragraph after the first displayed equation, the constraint
force hat(F) is said to be a 3by1 vector of 3tuples; however, it
is an nby1 vector of 3tuples.


16 Apr 2011, page 521.
In the paragraph after the first displayed equation there is a
secondorder partial derivative "d^2C/dxq". This should be
"d^2C/dxdq".


16 Apr 2011, page 521.
A displayed equation has "Q_{ij} = sigma_{ijk} q_{k}". In the paragraph
after this equation there is "The tensor S_{ijk} has...". This should
be "The tensor sigma_{ijk} has...". The tensor sigma_{ijk} has indices
i and k that use 0based indexing; however, the index j uses 1based
indexing because angular velocity was defined as w = (w1,w2,w3). This
means the lists of sigma values that are +1 or 1 need their middle
index increased by 1.


16 Apr 2011, page 521.
The construction for w^T*A*w/4 can be simplified by observing that
sigma_{ijk} w_{j} Q_{kl} w_{l} can be written as a product of a
4by4 skewsymmetric matrix and a 4by1 vector,
sigma_{ijk} w_{j} =
{
{ 0, w1, w2, w3},
{w1, 0, w3, w2},
{w2, w3, 0, w1},
{w3, w2, w1, 0}
}
Q_{kl} w_{l} =
{
w1*q1  w2*q2  w3*q3,
w1*q0 + w2*q3  w3*q2,
w1*q3 + w2*q0 + w3*q1,
w1*q2  w2*q1 + w3*q0
}
sigma_{ijk} w_{j} Q_{kl} w_{l} = (w1^2 + w2^2 + w3^2)*q = w^2*q


16 Apr 2011, page 522.
The lowerright entry of the H matrix in Equation (6.127) has a term
"qI". The quaternion should be written as a 4tuple in bold,
"qI".


16 Apr 2011, page 524.
The nexttolastline has "J_{i} w_{i}
x w_{i}". To be clear, this is computed as
"J_{i}(w_{i} x w_{i})"
(which then happens to be the zero vector).


16 Apr 2011, page 530.
On this page are occurrences of w. These should all be
w_{1}. The term "R(t)b_{1}" on
the page should be "R_{1}(t)b_{1}". The
phase "The constraint force, which is parallel to N_{1},
must push..." should be "The "dC/dx_{2}" component of
the constraint force G^{T} is N_{1} and must push..."


15 Oct 2010; pages 360, 362, 364, 370, 371, 375.
Two matrices are ordered incorrectly. Equation (6.10) on page 360
should be
K2 = sqrt(D0)*transpose(R0)*(K1  K0)
Items 2 and 3 on page 362 should be
2. Compute K2 = sqrt(D0)*transpose(R0)*(K1  K0)
3. Compute M2 = invsqrt(D0)*transpose(R0)*R1*D1*transpose(R1)*R0*invsqrt(D0)
Equation (6.28) on page 364 should be
C(t) = transpose(R)*sqrt(D0)*transpose(R0)*(K1  K0 + t*V) = K + t*W
The pseudocode for K2 on pages 370 and 375 should be
K2 = D0Half*((K1  K0)*R0);
The pseudocode for M2 on pages 370 and 375 should be
R1TR0D0NegHalf = R1.TranposeTimes(R0*D0NegHalf);
M2 = R1TR0D0NegHalf.TransposeTimes(D1)*R1TR0D0NegHalf;
The pseudocode for W on pages 371 and 375 should be
W = (D0Half*((velocity1  velocity0)*R0))*R

