[ODE] How to do iterative
Martin C. Martin
martin at metahuman.org
Wed Mar 19 07:04:02 2003
> A*lamda = b (plus some stuff for the LCP solver to simulate friction and
> limits..)
Once you've got a lambda, why not do this:
next_lambda = prev_lambda + delta_lambda
A * next_lambda = A * (prev_lambda + delta_lambda) = b
therefore,
A * delta_lambda = b - A * prev_lambda
So you can solve for delta_lambda directly if you make your rhs b - A *
prev_lambda
This is why I asked whether you'd gotten all the physics out of the loop
and were left only with linear algebra...
- Martin