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Zusammenfassung:
In this paper we give algorithms for solving linear complementarity problems
for $\mathcal{P}$-matrices and symmetric positive semidefinite matrices. Our
approach of the problem turns out to be an improvement and a more precise
formulation of Baraff’s method for problems arising from collision response.
The theorems that prove the correctness of our algorithm can also be used to
prove the correctness of Baraff’s algorithm.
An important feature of the method we present lies in its validity for
arbitrary real closed fields, thus it is well suited to handle, at least
locally, parametric linear complementarity problems.
This article presents the theoretical principles of the algorithms and gives
detailed pseudo-code descriptions of them.
