[ODE] ERP and CFM in ODE

[Ke]

Hi All,
The integration of ODE is based on complementarity
impulse and velocity models of Stewart/Trinkle and
Anitescu/Potra, which are based on non-penetration
constraints. How are ERP and CFM in ODE related to
above complementarity models in order to allow
penetration happening? or which ODE sources codes(.cpp
files) I should look into in order to know more about
ERP and CFM?


Thanks.


       
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