def METHOD_NAME(fcp, solver):
    SO = sn.SolverOptions(solver)
    SO.dparam[0] = np.sqrt(fcp.numberOfContacts) * 1e-9
    SO.iparam[0] = 10000
    n, m = fcp.H.shape
    size_reaction = m
    reaction = np.zeros((size_reaction,))
    velocities = np.zeros((size_reaction,))
    global_velocities = np.zeros((n,))
    return sn.gfc3d_driver(fcp, reaction, velocities, global_velocities, SO)