The errata list is a list of errors and their corrections that were found after the product was released. If the error was corrected in a later version or reprint the date of the correction will be displayed in the column titled "Date Corrected".
The following errata were submitted by our customers and approved as valid errors by the author or editor.
| Version |
Location |
Description |
Submitted By |
Date Submitted |
Date Corrected |
| Printed |
Page 7
2nd display equations |
all the occurances of m in the second display equations on this page should be m_i
|
Anonymous |
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| Printed |
Page 19
3-rd equation from the bottom |
The integrated expression (vector product):
(r x w x r)
NOW READS:
(r x (w x r))
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 19
last paragraph |
"... and (w x r) is angular momentum of each elemental mass..."
NOW READS:
"... and (r x (w x r))dm is angular momentum of each elemental mass..."
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 50
figure 2.8 |
Body axes x and y must be normal.
in Figure 2-8 they kind of look not perpendicular.
It's just an illustration issue...
|
Anonymous |
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| Printed |
Page 52
figure 2.10 |
vector v must be normal to radius r
|
Anonymous |
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| Printed |
Page 53
figure 2.11 |
vectors an and at must be normal (perpendicular).
|
Anonymous |
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| Printed |
Page 55
figure 2.12 |
vestor vt must be normal to radius r
|
Anonymous |
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| Printed |
Page 56
figure 2.13 |
vectors at & an must be normal
|
Anonymous |
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| Printed |
Page 70
the last equation |
The equation:
sum(F) = sqrt{sum[(Fx)^2] + sum[(Fy)^2]}
NOW READS:
sum(F) = sqrt{(sum Fx)^2 + (sum Fy)^2}
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 72
4-th equation |
3 parentheses were opened but only 2 closed.
An additional closing parenthesis HAS BEEN ADDED just after the Cv variable.
|
Anonymous |
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Jan 01, 2004 |
| Printed |
Page 72
7-th equation from the bottom;missing open and close brackets |
The equation IS NOW in the form:
[expression substituted for v2]dt = ds
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 75
the last equation on this page was incorrect |
It NOW READS:
Sum F = SQRT[ (sum Fx)^2 + (sum Fy)^2 + (sum Fz)^2 ]
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 76
last three equations at bottom |
NOW READS:
All minus signs in these equations HAVE BEEN CHANGED to plus signs.
|
Anonymous |
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Jan 01, 2004 |
| Printed |
Page 77
2-nd equation fron the bottom and the last equation of this page |
2-nd eq. from the bottom:
on the right side of the equation in the expression exp[-(Cd/m)t]
The "d" portion of the exponent NOW APPEARS as a subscript.
The last eq. on this page:
- in exp[-(Cd/m)t] the "d" portion of the exponent NOW APPEARS as a subscript.
- cw portion of the equation (two instances) NOW APPEARS as Cw (C is now uppercase).
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 77
4-th equation from the bottom |
In this equation:
Cd, Cw, vw, vx1, vx2
symbols:
d, w, x1 and x2 NOW APPEAR as indexes (smaller letters lower than the main line of text).
In x1 and x2 numbers 1 and 2 NOW APPEAR as subindexes.
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 77
5-th equation from the bottom |
The left side of the equation:
(Cd/m)t=....
The "d" portion of the exponent NOW APPEARS as a subscript.
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 78
2-nd and 3-rd eq. and some other eq. on this page |
In all occurrences of the exp[(-Cd/m)t] on this page, The "d" portion of the exponent
NOW APPEARS as a subscript.
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 79
3-rd line from the bottom |
A minus "-" HAS BEEN ADDED at the end of this line.
|
Anonymous |
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Jan 01, 2004 |
| Printed |
Page 80
3rd line from the top |
A minus "-" HAS BEEN ADDED at the end of this line.
|
Anonymous |
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Jan 01, 2004 |
| Printed |
Page 83
4-th equation |
The equation was incorrect.
It NOW READS:
Sum F = SQRT[ (sum Fx)^2 + (sum Fy)^2 ]
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 85
Figure 4-7. |
The vector N=mg cos(theta) must be perpendicular to the vector Ft and tu the inclined plate.
illustration issue...they should be drawn perpendicular
|
Anonymous |
|
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| Printed |
Page 86
5-th equation |
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 92
2-nd equation from the top |
i and j are both vectors and NOW APPEAR in the vector style (bold letters, no italics).
|
Anonymous |
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Jan 01, 2004 |
| Printed |
Page 92
2-nd equation from the top |
The value (0.864) NOW READS (0.866)
|
Anonymous |
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Jan 01, 2004 |
| Printed |
Page 93
1-st, 2-nd and 3-rd equation |
v1+ and v2+ are vectors, and NOW APPEAR in vector style (bold letters, no italics).
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 94
1-st and 2-nd equation from the bottom |
I don't understand why the units ft/s are omitted in these equations. They were used
earlier in all other equations of this kind.
AUTHOR: Not an error, but for consistency they could be included...
|
Anonymous |
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| Printed |
Page 94
formula for coefficient of restitution e and the equation i next line |
Two brackets are opened but only one is closed in the formula for coefficient of
restitution e.
The equations for coefficient of restitution should have closing
parenthesis/brackets in the numerator.
|
Anonymous |
|
|
| Printed |
Page 94
6-th and 7-th equation |
v1- and v2- are vectors, and NOW APPEAR in vector style (bold letters, no italics).
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 96
two last equations on the page |
The mistake here is that the velocity terms should be shown as vectors (in bold).
The same applies to just about all of the equations shown on page 96.
|
Anonymous |
|
|
| Printed |
Page 98
1-st equation |
the vectors in these equations should be shown in bold to denote them as
vectors instead of scalars...
|
Anonymous |
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| Printed |
Page 99
1-st equation |
tan(PHI) = F_f/F_n = (mu)
The same angle is represented in different way:
- in this equation (PHI) - upper case
- on the figure 5.6 (phi) - lower case
Font inconsistency
|
Anonymous |
|
|
| Printed |
Page 105
3rd paragraph from the end |
The text says that "the only formula that has changed is the formula for T", but in
fact the formula for h has changed too.
It should say:
the only formulas that have changed are the formula for T and the formula for h"
|
Anonymous |
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| Printed |
Page 108
figure 6.6 |
The axe of velocity profile should be normal to the surface of the sphere, which
means that velocity vectors should be paralel to this surface.
|
Anonymous |
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| Printed |
Page 109
First paragraph, just below Figure 6-7 |
The "separation point" is described as being at "approximately 80 degrees from the
leading edge." I would have thought 90 degrees more likely, but weird things do
happen in physics. If 80 degrees is correct, I feel that this should be emphasized,
preferably with a few words of explanation.
EDITOR: The 80 degrees is correct, and I would think more intuitive than 90. One
might wonder why the angle isn't closer to 45. But it's really a
peripheral point; the main idea is that the friction of a rough surface can
bring the angle around to a counte-intuitive 115 degrees.
|
Anonymous |
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| Printed |
Page 111
Last sentence of 3rd paragraph |
"In the SI system you'll get R_t in newtons (N) if you have velocity in m/s, area in
m, and..."
"area in m," NOW READS "area in m2,"
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 115
A line related to the last display equation on the page, |
in the sample code (cannon.c) has an error. It reads:
double C = PI * RHO * RHO * radius * radius * radius * omega;
that is, there is an extra factor of RHO (but would otherwise be correct).
|
Anonymous |
|
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| Printed |
Page 115
last display equation on the page |
F_L = 2pi^2
ho r^4 v omega
NOW READS:
F_L = 2pi
ho r^4 v omega
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 126
Figure 7-6 |
"delected" should be "deflected" for all three sections of this diagram.
Actually, "lowered" would be better.
|
Anonymous |
|
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| Printed |
Page 196
3rd line of 1st paragraph under the code |
"Similarly, STBCThruster...."
NOW READS:
"Similarly, STBDThruster...."
|
Anonymous |
|
Jan 01, 2004 |
| Printed |
Page 208
ApplyImpulse function |
remove "(vCollisionNormal * vCollisionNormal)" from this function.
It is not present in the example source code on the website.
(and should evaluate to 1 anyway)
|
Anonymous |
|
|
| Printed |
Page 309
last paragraph on the page |
The second line of the last paragraph reads:
"z-axis, then the y-axis, and then the z-axis, you can..."
That last z-axis should be "x-axis".
------
Chapters 13 and 16
Type of error: Serious Technical Mistake
Detailed Description of error:
I need to clarify and correct the collision response algorithms illustrated
in the sample code discussed in Chapters 13 and 16. Specifically, it should
be noted that the equations for impulse in both 2D and 3D are written in
terms of global, earth-fixed coordinates. Therefore, all of the variables in
those equations should be in terms of global coordinates. For example,
velocity, angular velocity and mass moment of inertia should all be in terms
of global coordinates. For the 2D case this difference can easily go
un-noticed since there's only one axis of rotation and the angular velocity
and mass moment of inertia are the same in both local and global
coordinates -- the z-axis is straight up in both cases. However, in the 3D
case, the objects may rotate about any arbitrary axis and it's important to
convert such parameters as angular velocity, and mass moment of inertia from
local body fixed coordinates to global coordinates. I failed to make the
conversion in the example presented in Chapter 16. While, I had in place a
parameter in the rigid body structure for the mass moment of inertia in
global coordinates, I inadvertently left out the conversion and that
parameter went unused. Converting the inertia tensor from local to global
coordinates involves transforming the inertia tensor using a rotation matrix
derived from the orientation quaternion. The hovercraft example (with
collision response) and the crash test example have been revised and
corrected accordingly and will be posted on O'Reilly's website.
Thanks,
David Bourg
|
Anonymous |
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