[ODE] How to do iterative

[david@csworkbench.com]

No, there's still physics in the loop. rhs includes components of
external force, and lamda * J is added to the external forces each
iteration, so it's more than just iteratively solving a known linear
algebra problem,  I think....

David

>> 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
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