Kangaroo2 bouncy solver theory

[s.wac]

Here’s some:

How does Kangaroo solver work?

Kangaroo works by minimising total energy. The various Goals define different energies which are zero under certain geometric conditions. The Kangaroo solver iteratively moves the points so that the sum of the energies acting on all the points in the system is as low as possible. For example, the Length goal acts as a spring, following Hooke’s law, so the energy is zero when it is at its rest length, but increases if it is stretched or compressed (in fact the energy increases as the square of…