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swx

Setting up LCP for multiple contacts

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Has anyone successfully implemented and solved the LCP for resting contact that Baraff describes in his course notes? My implementation gives me a A matrix: 0.4 -0.2 0.1 0.1 -0.2 0.4 0.1 0.1 0.1 0.1 0.4 -0.2 0.1 0.1 -0.2 0.4 and a B vector: -0.982 -0.982 -0.982 -0.982 But my LCP solver can''t solve it. Is the matrix or vector wrong, or is the problem my LCP solver? The testdata is a cube with the size 10x10x10, mass=10, sitting on a ground plane, and the only force acting on the cube is gravity.

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