ConstrainedDynamics.vcxproj
Double Pendulum Problem, still debugging
(1) Double Pendulum
(2) ConstrainForce with Lagrange method
	c1 = a*x*x-y=0 c2 = (x1-x2) * (x1 - x2) + (y1 - y2)*(y1-y2) - r*r
(3) matrix lib