[ODE] How to do iterative

[Martin C. Martin]

david@csworkbench.com wrote:
> 
> rhs includes components of external
> force, and lamda * J is added to the external forces each iteration,

That's currently the way you implement the iteration, but as far as I can
see, you don't need to implement it that way.  What both you and the LCP
code are trying to do is solve A*x = b where A is sparse and there are
some constraints.  Where A and b come from is irrelevant, unless you want
to exploit some other structure in A and b.

Just a thought,
Martin