Practical Introduction to Rigid Body Linear Complementary Problem (LCP) Constraint Solvers

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Author(s): Ben Kenwright (Newcastle University, UK)and Graham Morgan (Newcastle University, UK)
Copyright: 2012
Pages: 43
Source title: Algorithmic and Architectural Gaming Design: Implementation and Development
Source Author(s)/Editor(s): Ashok Kumar (University of Louisiana at Lafayette, USA), Jim Etheredge (University of Louisiana at Lafayette, USA)and Aaron Boudreaux (University of Louisiana at Lafayette, USA)
DOI: 10.4018/978-1-4666-1634-9.ch008

Keywords: Gaming / Information Science Reference / Media & Communications / Multimedia Technology

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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.

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