[ODE] Slightly OT

Charlie Garrett charlie.garrett at gmail.com
Thu Aug 18 16:01:49 MST 2005

Hi TongKe,

     I'll answer to the best of my knowledge, but I'm not 100% sure  
of these answers.

     LCP stands for Linear Complementarity Problem.  As I understand  
it, the rigid body constraint force problem is often  
overconstrained.  There is no solution that will solve every  
constraint.  LCP adds slackness variables that allow the solver to  
disable some constraints and then satisfy the rest.  You can find a  
whole book on the subject at http://ioe.engin.umich.edu/people/fac/ 

     ODE solves LCPs numerically.

     ODE uses impulse-based constraint forces that instantaneously  
change velocities.


On Aug 18, 2005, at 3:15 PM, TongKe Xue wrote:

> What's LCP? Linearly Constarined Programs?
> Does ODE solve LCP's exactly or just numerically?
> Is it acceleration-based or velocity-based?
> Thanks,
> --TongKe
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