Here is a list of useful references relating to ODE, Gazebo, simulation research, and other simulators.

# ODE

Currently, ODE has a more accurate but slower LCP solver *step.cpp* using Dantzig's algorithm and a iterative *quickstep.cpp* algorithm which solves LCP by successive-over-relaxation (SOR) of Projected Gauss-Seidel (PGS) algorithm. Worth noting here is how ODE removes drif of joint position constraints by imposing a custom *Error Reduction Parameter* (ERP) and improves overall numerical stability via special *Constraint Force Mixing* (CFM) matrix as described in ODE's users manual.

Some notes on ODE algorithm.