# MLCP Test 002 - size 3N - All dependent (1 rigid body) bilateral 3D (full matrix) - physically possible
flags = SOLVER_GAUSS_SEIDEL
total degrees of freedom = 6
number of constraints = 6
number of constraint DOFs ("atomic constraints") = 18
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
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)
HCHt = (
  ( 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0)
  ( 0 3.4999999999999999e-009 0 0 -1.5e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0)
  ( 0 0 3.4999999999999999e-009 0 0 -1.5e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009)
  ( 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0)
  ( 0 -1.5e-009 0 0 3.4999999999999999e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0)
  ( 0 0 -1.5e-009 0 0 3.4999999999999999e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009)
  ( 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009 2.5000000000000001e-009 0 3.4999999999999999e-009 0 0 -1.5e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0)
  ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0)
  ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 3.4999999999999999e-009 0 0 -1.5e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009)
  ( 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 -1.5e-009 0 0 3.4999999999999999e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0)
  ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0)
  ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 -1.5e-009 0 0 3.4999999999999999e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009)
  ( 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 3.4999999999999999e-009 0 0 -1.5e-009 0 0)
  ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 1.0000000000000001e-009 2.5000000000000001e-009 0 3.4999999999999999e-009 0 0 -1.5e-009 0)
  ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009)
  ( 1.0000000000000001e-009 0 2.5000000000000001e-009 1.0000000000000001e-009 0 -2.5000000000000001e-009 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 -1.5e-009 0 0 3.4999999999999999e-009 0 0)
  ( 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 2.5000000000000001e-009 0 1.0000000000000001e-009 -2.5000000000000001e-009 0 -1.5e-009 0 0 3.4999999999999999e-009 0)
  ( 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009 0 0 1.0000000000000001e-009)
)
friction = ( 0 0 0 0 0 0)
lambda = ( 113.54027658543633 55.984447685184627 81.845635261303883 -3.3087224502121103e-015 84.261711722572898 124.6596369935406 -18.056081083408476 63.19628379192968 25.729224155848073 10.317760619090549 4.9630836753181653e-015 38.723144908175662 -24.501830651667866 -8.2978167660376485 29.042358681131724 18.422943494849036 4.7416095805929466 3.3087224502121107e-015)
== END ==
