[ODE] Re: question about the method behind ODE

[Russ Smith]

> Can you tell me which method you use in order to solve your LCP ? Did
> you use the Dantzig algorithm or the modified version
> of Baraff, or is it a new method ?

it's the dantzig method.

> Did you correct the velocities and/or
> the positions and/or the accelerations of the rigid bodies ?

the velocities are corrected by tweaking the joint constraints so that the
relative velocity of the constrained joints tends to bring them back into
alignment.

baraff's paper on the dantzig method is the best place to start to
understand the method i am using.

russ.

--
Russ Smith
http://www.q12.org/