[ODE] GTA3 and Physics

[Jason Gott]

> 	Also can anyone point me to some literature on
> Dantzig algorithm
> (used by LCP solver in ODE). 
> 
> Cheers
> AN

Hello,

David Baraff has a paper entitled "Fast Contact Force
Computation for Nonpenetrating Rigid Bodies" that was
in SIGGRAPH 94.  In it, he has pseudo-code for his
implementation of Dantzig's algorithm.  Just search
for it by name and you'll find a .pdf.

Hope that helps,
J

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