[color="#1C2837"]So sequential impulse is an iterative method to solve the LCP, and the word "instead" is not applicable.

It is applicable when the traditional way to solve a system of constraints using LCP or QP involves generating a giant, inefficient matrix of constraints and sending this off to a memory hungry 'solver' which knows nothing about the problem domain and can quite easily 'die' with an infeasible solution.

Using impulses as the work-horse tool to solve a problem that can be expressed as an LCP is to me a very different thing than solving a general LCP

Cheers, Paul.