Improvements to bicubic surface example -- most important, I fixed the bad inertia I had created for the cylinder body. As currently set it shows liftoff and touchdown and energy conservation with both stiffness (l-dependence) and damping (ldot-dependence).
Improvements to bicubic surface example -- most important, I fixed the bad inertia I had created for the cylinder body. As currently set it shows liftoff and touchdown and energy conservation with both stiffness (l-dependence) and damping (ldot-dependence).

scamille/simbody,Gjacquenot/simbody,robojukie/simbody,scamille/simbody,elen4/simbody,simbody/simbody,chrisdembia/simbody,chrisdembia/simbody,elkingtonmcb/simbody,scamille/simbody,robojukie/simbody,elen4/simbody,elkingtonmcb/simbody,robojukie/simbody,simbody/simbody,Gjacquenot/simbody,chrisdembia/simbody,Gjacquenot/simbody,elkingtonmcb/simbody