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# Contact Resting - Quadratic Programming

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### #1Jungle Boy  Members   -  Reputation: 122

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Posted 25 May 2005 - 12:30 PM

hi guys I'm looking for a fast QP solver for my physic's implementation with friction (for the contact resting, specifically). Is there a "standard algorithm" for that? Thx

### #2dblack  Members   -  Reputation: 150

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Posted 25 May 2005 - 12:39 PM

Hi,

You probably want to go with an iterative approach(at least to start off with). A good description of iterative solutions to the contact problem(eg SOR etc) is:

http://www.diku.dk/forskning/image/publications/erleben.html

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

Alternativly there are more accurate direct methods, but they tend to run in polynomial time. (search for dantzig LCP etc). One site to check out is:

http://ioe.engin.umich.edu/people/fac/books/murty/linear_complementarity_webbook/

Which discusses a multitude of methods for solving LCPs(the subclass of quadratic programs needed for contact resolution).

David

### #3Jungle Boy  Members   -  Reputation: 122

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Posted 25 May 2005 - 05:52 PM

But i'm totally ignorant about that and not very concerned about "how to solve quadratic programming" right now.

I googled several times for LCP implemented algorithms but i didn't find :/ Do you know where i can find an implemented of LCP algorithm?

### #4John Schultz  Members   -  Reputation: 811

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Posted 25 May 2005 - 06:13 PM

Quote:
 Original post by Jungle Boythx for reply David :)But i'm totally ignorant about that and not very concerned about "how to solve quadratic programming" right now.I googled several times for LCP implemented algorithms but i didn't find :/ Do you know where i can find an implemented of LCP algorithm?

ODE implements LCP, and is a complete physics engine. It's free and open source, see www.ode.org. Minimally, examining the source will give you an idea of what it takes to develop a physics engine. There are other free physics engines, though it's not clear if they are also open source.

### #5MrRowl  Crossbones+   -  Reputation: 2276

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Posted 25 May 2005 - 08:52 PM

Dave Eberley's "Game Physics" book comes with a LCP solver

Edit: Source code is here:
http://www.geometrictools.com/Physics.html

### #6Jungle Boy  Members   -  Reputation: 122

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Posted 26 May 2005 - 05:42 AM

Thx MrRowl

it's exactly what i wanted ;P

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