[ODE] ODE and cyclic constraints

[Charles James Leonardo Quarra Cappiello]

Hi,


how does ODE handle cyclic constraints? is there a run-time check that no 
circular constraints exists at any given time, or this must be handled at 
the contact pushing stage?

There is a Baraff's paper on the net called: "linear-time dynamics using 
lagrange multipliers". I wondered if someone knows about it or if ODE solver 
already uses that?

Greetings


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