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simulations with Lagrangian method,both symbolic and by numeric deriv
...Also some examples in Game Maker and Matlab/Octave are coming soon.
link to Part 1 of the video where all method is thoroughly exmplained:
http://youtu.be/ELD0WPOxNb0
http://youtu.be/Kjhkyq-pLLw
the part_2 shall explain numeric stuff, and some support for collisions and serious rigid bodies jointed.