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Correct formula for solref direct stiffness. Fixes #732.

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PiperOrigin-RevId: 590144795
Change-Id: I94def777c7456243509374caecea2a335859f1f2
This commit is contained in:
Yuval Tassa
2023-12-12 03:55:19 -08:00
committed by Copybara-Service
parent aed4254d65
commit 64c33cefcf
1 changed files with 1 additions and 1 deletions
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doc/modeling.rst
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@@ -403,7 +403,7 @@ and the damping ratio is ignored. Equivalently, in the direct format, the :math:
.. math:: .. math::
\begin{aligned} \begin{aligned}
b &= \text{damping} / d_\text{width} \\ 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} \end{aligned}
.. tip:: .. tip::