# Useful links
## Constrained dynamics
 - [A lot of pictures to get general idea and familiarize, but not very understandable](https://danielchappuis.ch/download/ConstraintsDerivationRigidBody3D.pdf)
 - [More text and math but very well written and understandable](https://graphics.pixar.com/pbm2001/pdf/notesf.pdf)