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Non-linear complementarity problem VS LCP

Posted: Thu Feb 25, 2021 5:22 pm
by eng.mostafa_2005
Hi all,
I am new to the dynamics and simulation world and I have a question.

Does bullet solve a non-linear complementarity problem using PGS or it converts it to an LCP and solve it? and if it's the second case can someone point me to some sources of how to achieve this and in which part of the code this happens?