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Jungle Boy

Contact Resting - Quadratic Programming

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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
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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
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thx 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?
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Quote:
Original post by Jungle Boy
thx 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.
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Dave Eberley's "Game Physics" book comes with a LCP solver

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