Fundamentals of Wearable Computers and Augmented Reality, 2nd Edition

566 Fundamentals of Wearable Computers and Augmented Reality

21.3.2 constraint jacobians

We enforce strain limiting constraints following a constrained optimization for-

mulation described in the next section. This formulation requires the computation

of constraint Jacobians with respect to the generalized coordinates of the system

(i.e.,the nodal positions of the nite element mesh) due to two reasons. First, con-

straints are nonlinear, and we locally linearize them in each simulation step. Second,

we enforce constraints using the method of Lagrange multipliers, which applies

forces in the direction normal to the constraints.

To dene constra ...