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Background:

I was going to implement an implicit approach to 3d tetrahedra deformations (first in Matlab then in C++).

I need the Jacobian for the partial derivative of force wrt position to do this.

I found this paper that gives a method for computing it:

http://www-bcf.usc.edu/~jbarbic/BarbicExactCorotationalFEMStiffnessMatrix.pdf

The Question:

In the report, he defines a 2skew function (to the right of the page). I'm pretty confused on what it means. I think I forgot what skew means from linear algebra - that's probably part of my problem. It sounds like skew symmetric means that a negated matrix is equal to its transpose. What exactly is this 2skew function for?

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# The mysterious 2skew function

Can you offer guidance or do you also need help?

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