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Corrected some minor typos #1

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Corrected some minor typos #1

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8 changes: 4 additions & 4 deletions ChainSimulation.html
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Expand Up @@ -640,11 +640,11 @@ <h2>Simulation loop</h2>
In every case we will have to:
<ul>
<li>Compute the Jacobian</li>
<li>Uses a velocity bias to prevent drift/stretching (Baumgarte stabilization): $$b = \frac{\beta}{t} \cdot C$$</li>
<li>Compute the inverse of $JM^{-1}J^T$ (this is why we want smaller jacobians).</li>
<li>Compute lagrange multipliers (anything that multiplies a derivative that points in the direction we want is called a lagrange multiplier, this is just to scare people).</li>
<li>Use a velocity bias to prevent drift/stretching (Baumgarte stabilization): $$b = \frac{\beta}{t} \cdot C$$</li>
<li>Compute the inverse of $JM^{-1}J^T$ (this is why we want smaller Jacobians).</li>
<li>Compute Lagrange multipliers (anything that multiplies a derivative that points in the direction we want is called a Lagrange multiplier, this is just to scare people).</li>
$$\lambda = -\frac{J \cdot v_{tentative} + b}{JM^{-1}J^T}$$
<li>And the velocity gets corrected(so it meets the constraints) by applying:</li>
<li>And the velocity gets corrected (so it meets the constraints) by applying:</li>
$$v_f = v_{tentative} + \lambda J^T$$
</ul>
<li><b>Rendering:</b> Draws particles and links.</li>
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