   LCP solver materials?
  I have been experimenting lately with physics engines, and having implemented several algorithms, I'm now looking into the dynamics part of the engine. Something that's got me curious is all the references to LCP solvers. I was wondering where I could find more materials on how LCP solvers work, the theory behind them, and how to implement one. I've looked in the Technical FAQ and the link to Pixar's site gives me a 404. Gamasutra's site dives in a little too quickly, so I'm slowly working my way through right now. In the meantime, I'm still looking for more resources. Are there any book recommendations, links, etc?Thanks in advance.   
  The Doom3 SDK includes the LCP code, I believe, so that's one possible reference. If a book is an option you also might check out Dave Eberly's 'Game Physics' (it's somewhat heavy going, but has thorough coverage of this and related topics).   ;Here's a link to my favorite LCP related paper by Erin Catto. It's not that hard to implement (compared to other papers I've read) and it's very well written.-Steve.   ;  Thanks for the replies.Further searching got me here:http://www.cs.cmu.edu/afs/cs/user/baraff/www/pbm/pbm.htmlIt seems to be pretty comprehensive, though I haven't actually learned it so I wouldn't know.   