Correct formula for solref direct stiffness. Fixes #732.

PiperOrigin-RevId: 590144795 Change-Id: I94def777c7456243509374caecea2a335859f1f2
2023-12-12 03:55:19 -08:00
parent aed4254d65
commit 64c33cefcf
1 changed files with 1 additions and 1 deletions
@@ -403,7 +403,7 @@ and the damping ratio is ignored. Equivalently, in the direct format, the :math:
   .. math::
      \begin{aligned}
      b &= \text{damping} / d_\text{width} \\
-      k &= \text{stiffness} / d_\text{width}^2 \\
+      k &= \text{stiffness} \cdot d(r) / d_\text{width}^2 \\
      \end{aligned}

 .. tip::