Real-Time Physics Simulation Forum

This is a set of notes developed by Prof. Jeff Trinkle. Contact and friciton modelling is different from what game community using. The note is quite clear and its numerical example is illustrative. I hope it would help you understand Stewart-Trinkle, Anitescu-Potra time stepper.

The link:

http://www.cs.rpi.edu/~nguyeb2/docs/rigid_body_lcp.pdf

Thanks