MLCP_DAE formulation for 2D Contact Rigid

Abstract

This document is meant to be a detailed description of how my MLCP-gen alpha solver evolved, what are its features, implementation issues, results, etc. There will also be a detailed comparison with VL to check how accurate it is and what it can and cannot do. This document is in preparation of a Journal article and in preparation of the LMS RTD meeting.status: accepte