[ODE] ERP and CFM in ODE

[dan miller]

start here:

http://opende.sourceforge.net/wiki/index.php/Manual_(Concepts)#How_To_Use_ERP_and_CFM


--- Ke <kxubb at yahoo.com> wrote:

> Hi All,
> The integration of ODE is based on complementarity
> impulse and velocity models of Stewart/Trinkle and
> Anitescu/Potra, which are based on non-penetration
> constraints. How are ERP and CFM in ODE related to
> above complementarity models in order to allow
> penetration happening? or which ODE sources codes(.cpp
> files) I should look into in order to know more about
> ERP and CFM?
> 
> 
> Thanks.
> 
> 
>        
>
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