Iterative solver (again) [Was: Re: [ODE] Russ' plans for ODE?]

[Nguyen Binh]

Hi Alen,

AL> It takes the original J and M matrices in their very sparse form (actually
AL> recorded as 6xN and 6xM matrices) and uses that for an O(n) solution. But
AL> generally, this method doesn't require any changes to the way that joints
AL> are formulated - it is merely a faster way to solve (or rather - approximate
AL> solution to) the LCP.

    Now, I understand your point. I had did some small investigation on this subject.
    One good source for it is in here
    http://epubs.siam.org/sam-bin/dbq/toclist/SIMAX
    and you could focus on : "semidefinite linear complementarity
    problem", it's directly useful in physical simulation.

>>      For demonstration, I'll put a demo with that technique and use a
>>      quite "polished" collider. These day, I tried to make your
>>      sphere-cylinder collider code more robust :).

AL> Great. I'd like to see it for comparisons with direct solver.

    OK! Let's see. I don't feel much excited about it but it's really
    worth investigation.
    
AL> Cheers,
AL> Alen

    Ah, Do you think StepFast is like Jacobi method?

Nguyen Binh