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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

I wrote that on the corner of my desk (quick and dirty).
It is poorly organized, but have a look at it and tell me if you 
understand.

It could be better to write everything in terms of velocities perhaps, 
to keep exact equalities, and only integrate over dt at the very end.

Bruno

p.s. It is a good news to know that PFC doc is available publicly. It 
means we can mention it as a reference.


--
_______________
Bruno Chareyre
Associate Professor
Grenoble INP
Lab. 3SR
BP 53 - 38041, Grenoble cedex 9 - France
Tél : 33 4 56 52 86 21
Fax : 33 4 76 82 70 43
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