Hello,
The aim is to introduce kinematic constraints between dofs (contact, rigid body, hing joint, equality, ...).
U* = U + 1/2*p*phi^2 + k*lambda*phi
where,
k is a scale factor and phi is the kinematic constraint.
We consider 2 one-dimensional rods.
1 ____ 2 3 ____ 4
Node 4 is fixed...