Practical introduction to rigid body linear complementary problem (LCP) constraint solvers

Ben Kenwright, Graham Morgan

Research output: Chapter in Book/Report/Conference proceedingChapter

5 Citations (Scopus)

Abstract

This chapter introduces Linear Complementary Problem (LCP) Solvers as a method for implementing real-time physics for games. This chapter explains principles and algorithms with practical examples and reasoning. When first investigating and writing a solver, one can easily become overwhelmed by the number of different methods and lack of implementation details, so this chapter will demonstrate the various methods from a practical point of view rather than a theoretical one; using code samples and real test cases to help understanding.

Original languageEnglish
Title of host publicationAlgorithmic and Architectural Gaming Design
Subtitle of host publicationImplementation and Development
PublisherIGI Global
Pages159-201
Number of pages43
ISBN (Electronic)9781466616356
ISBN (Print)9781466616349
DOIs
Publication statusPublished - 2012

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Kenwright, B., & Morgan, G. (2012). Practical introduction to rigid body linear complementary problem (LCP) constraint solvers. In Algorithmic and Architectural Gaming Design: Implementation and Development (pp. 159-201). IGI Global. https://doi.org/10.4018/978-1-4666-1634-9.ch008