Stable box stacking

[ngbinh]

Their first paper: D.E. Stewart and J.C. Trinkle. An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction. International Journal of Numerical Methods in Engineering, 39:2673-2691, 1996.
http://www.cs.rpi.edu/~trink/Papers/STijnme96.pdf

An easier to read paper: J.C. Trinkle. Formulations of multibody dynamics as complementarity problems. In Proceedings, ASME International Design Engineering Technical Conferences, September 2003. VIB-48342 (no page numbers in CD proceedings). http://www.cs.rpi.edu/~trink/Papers/Tidetc03.pdf

[fishboy82]

Thanks a lot , I will read them first

[ngbinh]

This note is also useful :
http://www.cs.rpi.edu/~nguyeb2/docs/rigid_body_lcp.pdf

[fishboy82]

Thanks :
It's a good notes, I will read it more carefully:)