[kernel] add level arm notation
@@ -60,13 +60,18 @@ void Lagrangian2d2DR::computeJachq(SiconosVector& q, SiconosVector& z)
double Ty = - Nx;
+ double lever_arm_x = G1x-Px ;
+ double lever_arm_y = G1y-Py ;
+ DEBUG_PRINTF("lever_arm_x = %4.2e,\t lever_arm_ y = %4.2e\n", lever_arm_x, lever_arm_y);
+
_jachq->setValue(0,0,Nx);
_jachq->setValue(0,1,Ny);
- _jachq->setValue(0,2,(G1y-Py)*Nx - (G1x-Px)*Ny);
+ _jachq->setValue(0,2,lever_arm_y*Nx - lever_arm_x*Ny);
_jachq->setValue(1,0,Tx);
_jachq->setValue(1,1,Ty);
- _jachq->setValue(1,2,(G1y-Py)*Tx - (G1x-Px)*Ty);
+ _jachq->setValue(1,2,lever_arm_y*Tx - lever_arm_x*Ty);
+
if (q.size() ==6)
