Antonio Martini wrote:
given that the task is to find a set of active constraints that will solve the problem it would seem more logical and efficient to start with the simplest cases and increase the size of the system only if a solution has not been found? this should also avoid the redundant cases you mentioned i suppose.
My assumption is that if a contact point exists, then it is usually active (think of box stacking). If a contact point is not active, it will not be around much longer.
Also, the goal is to find a very accurate solution for the stacking case. So if the full manifold is not active, we could just fall back on the old sequential solution.