Hi, Sorry if this is in the wrong section I didnt know where to put it :o

**I am currently trying to compute a racing line(I have allready baked the centre line and have a array of points equally spaced along the track)**

**To compute the racing line from this centre line I am following this article**

http://game.itu.dk/cig2010/proceedings/papers/cig10_048_083.pdf

The problem is my math is simply not up to the task and I am completely out of my depth :(.

Can anyone help explain or dummify some of the formula’s?

**I am currently reading the ‘Shortest Path’ section(Page 389 Section B)**. I understand everything untill the matrix and 1xn vector variables are introduced, and then i get even more confused when the quadratic function is introduced. (Formula 2 and 3, Below is a screenshot).

Any help understanding quadratic’s and matrix’s or just these forumlea in a general(links, tuts) or anything would be great