Hello, sorry if this is a redundant question but are there any good resources for learning the sequential impulse solver method for simulating rigid body resting contact forces? Also, I was wondering is there is a good resource for learning why it converges?
I think I get the set up of how to formulate resting contact constraints as a mixed linear complimentary problem, and as another question would it be possible to solve that problem as a convex quadratic problem using the interior point method? I only ask because I think I understand that method, but projected Gauss Seidell and sequential impulse solvers have gone way over my head.
Thanks!
Any resources for learning sequential impulse solver and a proof of its convergence?

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