But the k can be very big due to other reasons. For example, if you use the Lagrange multipliers, you have to compute continuous constraint forces. When integrating the body states e.g. with Runge Kutta 4, you have to evaluate these forces for different time step sizes. By using the impulse-based approach you have to compute the impulses just once per time step. So the constant k will be probably smaller.yes however if i see a sparse LU decomposition i think that the solver i designed for large n .
We have a good implementation of Baraffs method and the results I mentioned were surprising but they were made with a fair test. I regret that I don't have an implementation of the Featherstone algorithm. It would be interesting to compare all methods.
Jan