Authors Kenny Erleben ( 2013 )

Abstract
This course provides an introduction to the definition of linear complementarity problems (LCPs) and outlines the derivation of a toolbox of numerical methods. It also presents a small convergence study on the methods to illustrate their numerical properties. The course is a good introduction to implementing numerical methods, because it includes tips and tricks for implementation based on considerable practical experience.

SIGGRAPH Course Webpage here
Software here
Course Notes here
Course slides and rigid ball simulator exercise here

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