# Original MLCP test - some data from a live simulation
flags =
total degrees of freedom = -1
number of constraints = 6
number of constraint DOFs ("atomic constraints") = 16
constraint types = MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_2D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_2D_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT
E = ( -1.078639261242742e-009 3.8628052700939719e-009 3.4365124678206738e-011 5.2439675317372814e-008 -1.0881681666852216e-010 -5.4598438617436962e-010 1.3895925000950715e-009 -8.0260487492211929e-010 3.182259790575348e-008 1.5418919745158188e-008 -0.0028349485130807293 -0.00024345752383292049 -6.8288003755851215e-005 -0.0024687155316284442 0.00044509381981076065 0.00036473635193496473)
HCHt = (
  ( 1.3345657526376539e-008 1.4762129451361012e-012 1.3021510888275589e-009 -3.1071425782284856e-008 -5.6308255099272961e-011 0 0 0 0 0 0 0 0 0 0 0)
  ( 1.4762129451361044e-012 1.4730637830740187e-008 -1.2917016738606647e-012 -7.1607792168177411e-016 -4.2296549471529904e-012 0 0 0 0 0 0 0 0 0 0 0)
  ( 1.3021510888275589e-009 -1.2917016738606573e-012 1.350942244549466e-008 -3.3089655917465503e-008 -5.993834037837092e-011 0 0 0 0 0 0 0 0 0 0 0)
  ( -3.1071425782284856e-008 -7.1607792168177411e-016 -3.3089655917465503e-008 7.9109243566832458e-007 -2.0914474411210304e-011 0 0 0 0 0 0 0 0 0 0 0)
  ( -5.6308255099272961e-011 -4.2296549471529904e-012 -5.993834037837092e-011 -2.0914474411210346e-011 7.9999738402362291e-007 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 1.5589983172147443e-008 2.4655681638273228e-010 -2.6547210557780089e-010 -4.0242767107961668e-010 2.9172027027174455e-008 -1.4626940755792081e-009 -8.3546545220688397e-009 -6.910879572780377e-012 1.0076117393553975e-009 8.6338319022767194e-009 -1.2342675099707964e-010)
  ( 0 0 0 0 0 2.4655681638273228e-010 1.2772429953165537e-008 -2.8455178752109829e-010 -7.9973379384833891e-011 5.8411815009243883e-009 -6.474323176106377e-009 -5.7283661469222675e-010 -1.0858340296547962e-009 6.2702667451699401e-009 -1.7749942115993248e-009 -4.3201426346668623e-010)
  ( 0 0 0 0 0 -2.6547210557780094e-010 -2.8455178752109829e-010 1.5781997723164011e-008 5.6863004741912405e-010 -4.1221084373918575e-008 6.434508335504067e-010 1.5299613175269497e-010 -8.7523797506238338e-009 -1.24204206311367e-009 -6.5906217261540902e-011 8.5224220548311002e-009)
  ( 0 0 0 0 0 -4.0242767107961668e-010 -7.9973379384833891e-011 5.6863004741912405e-010 7.9763312499397027e-007 1.1507401561300607e-010 3.3984526634410832e-009 8.0413593280745838e-009 -1.1262542833458448e-008 3.4590894897356843e-009 7.1961798751286384e-009 -1.0553214707732758e-008)
  ( 0 0 0 0 0 2.9172027027174455e-008 5.8411815009243883e-009 -4.1221084373918575e-008 1.1507401561300607e-010 7.8929265028778233e-007 -8.7525370098262112e-009 -2.0706484870371629e-008 2.8946431215678211e-008 9.6712597799773566e-009 2.016714890447026e-008 -2.951199226885018e-008)
  ( 0 0 0 0 0 -1.4626940755792081e-009 -6.474323176106377e-009 6.434508335504067e-010 3.3984526634410832e-009 -8.7525370098262112e-009 9.3508899127147559e-005 6.1061434208882659e-006 -1.0005996410361315e-005 2.3175132657846745e-005 -5.7725592020145953e-007 -2.6121568520215946e-006)
  ( 0 0 0 0 0 -8.3546545220688397e-009 -5.7283661469222675e-010 1.5299613175269497e-010 8.0413593280745838e-009 -2.0706484870371629e-008 6.1061434208882693e-006 9.9502091897911858e-005 7.7201461732487004e-006 6.37466867795377e-006 2.3794026441112229e-005 5.9700902633940878e-006)
  ( 0 0 0 0 0 -6.910879572780377e-012 -1.0858340296547962e-009 -8.7523797506238338e-009 -1.1262542833458448e-008 2.8946431215678211e-008 -1.0005996410361326e-005 7.7201461732486902e-006 0.00010300469354547019 2.0371361118566863e-006 1.2143141546752772e-005 1.9538302894163935e-005)
  ( 0 0 0 0 0 1.0076117393553975e-009 6.2702667451699401e-009 -1.24204206311367e-009 3.4590894897356843e-009 9.6712597799773566e-009 2.3175132657846745e-005 6.37466867795377e-006 2.0371361118566863e-006 7.024991409575548e-005 4.749834757924254e-006 -3.4246067483125659e-006)
  ( 0 0 0 0 0 8.6338319022767194e-009 -1.7749942115993248e-009 -6.5906217261540902e-011 7.1961798751286384e-009 2.016714890447026e-008 -5.7725592020145953e-007 2.3794026441112229e-005 1.2143141546752772e-005 4.7498347579242642e-006 6.0599243166315907e-005 7.4677104014104345e-006)
  ( 0 0 0 0 0 -1.2342675099707964e-010 -4.3201426346668623e-010 8.5224220548311002e-009 -1.0553214707732758e-008 -2.951199226885018e-008 -2.6121568520215946e-006 5.9700902633940878e-006 1.9538302894163935e-005 -3.4246067483125621e-006 7.4677104014104133e-006 5.4786811573213588e-005)
)
friction = ( 2.8797662206765437e-216 0 0 0 0 0 0 0 0 0 0.40000000000000002 0 0 0.40000000000000002 0 0)
lambda = ( -0.080836084913972622 -0.26223731104011477 -0.18374150677203246 -0.077148138493640786 0.00011316190840491921 6.5804169707683497 -2.1186332046610241 5.7403838888910892 -0.18883274186185561 -0.05530115251517391 24.309512511537893 1.4775577619944267 4.3566278655246844 27.275211987031248 -10.073699584423007 -4.1893349010069185)
== END ==
