Practical Introduction to Rigid Body Linear Complementary Problem (LCP) Constraint Solvers

@inproceedings{Kenwright2012PracticalIT,
  title={Practical Introduction to Rigid Body Linear Complementary Problem (LCP) Constraint Solvers},
  author={Ben Kenwright and Graham Morgan},
  year={2012}
}
This chapter introduces Linear Complementary Proble m (LCP) Solvers as a method for implementing real-time physics for games. We explain principles and algorithms with practical examples and reasoning. When first investigating and writing a s olver, one can easily become overwhelmed by the number of different methods and lack of implementat ion details, so this chapter will demonstrate the various methods from a practical point of view rath er than a theoretical one; using code samples and r… 
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