[ODE] Slightly OT
charlie.garrett at gmail.com
Thu Aug 18 16:01:49 MST 2005
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
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?
> ODE mailing list
> ODE at q12.org
More information about the ODE