dartsim/dart — pull request #113 by jslee02 (2013-10-03 07:54:57+00:00)
Title: [Issue 100] Reducing constraint violations such...

... as contact penetration and joint position limit.

This pull request slightly modifies the formulations of LCP for constraint dynamics. The goal of previous constraint forces, which is obtained by solving the LCP, just prevented more violations. New constraint forces however generate additional acceleration that reduces violations of the constraints.