hello, i need to solve a near singular linear system of equations to do inelastic projection as a fail-safe in collision handling, i tried sparseqr from eigen, gmres from iml and an own implementation of minresqlp, the only method near to success was gmres but it breaks down eventually ( because of Arnoldi vectors of norm 0 i guess) ,
http://www.cs.columbia.edu/cg/pdfs/RTSC.pdf
robust iterative methods for near singular linear systems
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