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cboyce
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I'm working with a game physics engine that uses Jacobians to resolve contact forces. It's been a few years since my physics and linear algebra classes (where we didn't get to Jacobian matrices), so what I'm reading about Jacobians is fairly overwhelming. Most of what I can find are fairly formal definitions, without any examples about what I'm specifically looking for. Can someone give me a couple simple examples about how Jacobians would apply in physics contact resolution, or point me to a resource that does? Or are they complex enough that I need to relearn all the linear algebra leading up to them to understand how to use them?