[ODE] Good reference for solving LCP's?

Andrew Riehm andrew.riehm at gmail.com
Tue Apr 24 07:29:01 MST 2007

I'm trying to understand how the physics engine works, from a numerical 
computing perspective, and I am having a hard time finding a good 
comprehensive overview of what a linear complimentarity problem is and 
what methods are used to solve them.  Can anyone point me to a good 
reference (be it an online article, a book, or a journal)?

Andrew Riehm

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