[ODE] iterative LCP solver explained

[Antonio_Martini at scee.net]

Chapter 6 of the Kenny Erleben's Phd contains a good explanation on SOR
solvers and on specific optimisations which gives
a good understanding of how the ODE's Quickstep solver works.

http://www.diku.dk/~kenny/thesis.pdf

A lot of the ides contained in his Phd have been implemented in OpenTissue
which can be found on his website:

http://www.diku.dk/~kenny/





Antonio Martini
Sony Computer Entertainment Europe
http://www.scee.com


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