Checking \(\frac {\partial F}{\partial y}=-1\neq 0\). Since quadratic in \(p\) then
Now we check that this satisfies the ode itself. We see it does not. Now we try the c-discriminant method. The general solution is too complicated to write here. But Mathematica and Maple claim there is no singular solution. So will leave it there for now. The paper I took this example from is wrong. It claimed \(y=x^{2}\) is the envelope. It is not.