   help lcp in java and other
  i'm programming a physics engine for java ,now i have simple rigid body systembut without constraints or resting contacts, basicly all information i got from oreilly physics for game developetrs and other internet resources, my questions are:1) is there any lcp solver written in java and i'm not talking about for example ode in java and its solver, but true solver wrotten only in java without native libraries and something like that.2) Can you give some good links to papers in internet that describe how to create constraint system and the most important for me how to code it, something like step by step guide.3) are there any good papers on how to create verlet integration in 3d, code anddesribed how to use it, code for me is the most important.if someone have time and would like to answer my myabe stupid questions please answer it   
and another question, have you got some links to video curses about math,linear algebra, physics, programming physics and other i haven't mentionedbecouse i found on prevoius post this linkhttp://ocw.mit.edu/OcwWeb/Mathematics/index.htmand its so intresting have you got any?   