[ODE] (no subject)

[tang bo]

in ode user guide there are some descriptions of the models has been used

Simulation method: The equations of motion are derived from a Lagrange 
multiplier velocity based model due to Trinkle/Stewart and Anitescu/Potra. 
Choice of time stepping methods: either the standard ``big matrix'' method 
or the newer iterative QuickStep method can be used. 
Contact and friction model: This is based on the Dantzig LCP solver 
described by Baraff, although ODE implements a faster approximation to the 
Coloumb friction model. 

but i can't find out the details of these models, and anyone here could 
tell me what the reference of these model(articles or thesis?)

thanks

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