[ODE] Re: LCP

[nlin@nlin.net]

Russ Smith wrote:

> if you are using acceleration based equations of motion, then you can
> indeed find friction problems that have many LCP solutions, or none at
> all. some of baraff's papers give a good explanation of this problem.
> i believe that when Trinkle suggests using lemke's method, he is
> suggesting that it be used on velocity-based time-stepping methods
> (because dantzig's method may fail on these problems even though
> they have a unique solution).

Do you have any references on explanations of and comparisons between
velocity-based time-stepping methods and acceleration-based methods? Is
it correct to say that there also purely position-based methods (see
"An implicit time-stepping scheme for rigid body dynamics with inelastic
collisions and coluomb friction", Stewart/Trinkle, which appears to be
only position-based, and is the basis for the "Jakobsen" method gaining
popularity recently)?

I've read lots of bits and pieces in various recent research articles,
but these are all only parts of the puzzle. A good solid fundemantal
understanding of such techniques (which you guys obviously have) eludes me.
Would buying a textbook on Lagrangian dynamics help? If not, what sorts
of books or introductory articles go into these issues?

-Norman