Question #169689 on Yade changed:
https://answers.launchpad.net/yade/+question/169689
Status: Open => Answered
Chareyre proposed the following answer:
For me eq. 7.26 is very close to:
Vector3r dVel=dVelGrad*state->pos;
state->vel+=dVel;
dVel is an impulse at time t right?
Now the other correction we have is either hidden in their equations,
due to the difference between fluctuational and total velocity, or due a
mistake in a derivation on one side.
I wouldn't bet my life on that but when I checked I found a mistake in
their derivation. I'll try and find it again and will let you know.
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