Real-Time Physics Simulation Forum

hello, i need to solve a near singular linear system of equations to do inelastic projection as a fail-safe in collision handling, i tried sparseqr from eigen, gmres from iml and an own implementation of minresqlp, the only method near to success was gmres but it breaks down eventually ( because of Arnoldi vectors of norm 0 i guess) ,

http://www.cs.columbia.edu/cg/pdfs/RTSC.pdf