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

Ben Kenwright, Graham Morgan

Research output: Chapter in Book/Report/Conference proceedingChapter

7 Citations (Scopus)


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
Number of pages43
ISBN (Electronic)9781466616356
ISBN (Print)9781466616349
Publication statusPublished - 2012

ASJC Scopus subject areas

  • General Engineering


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