# MLCP Test 001 - size 3N - All independent (N rigid bodies) bilateral 3D (diagonal block (3) matrix)
flags = SOLVER_STATUS_METHOD
total degrees of freedom = 60
number of constraints = 10
number of constraint DOFs ("atomic constraints") = 30
constraint types = MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT MLCP_BILATERAL_3D_CONSTRAINT
E = ( -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007 -1.0000000000000001e-007 -2.0000000000000002e-007 -2.9999999999999999e-007)
HCHt = (
  ( 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009 0)
  ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1.0000000000000001e-009)
)
friction = ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0)
lambda = ( 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994 99.999999999999986 199.99999999999997 299.99999999999994)
== END ==
