So-Bogus
A c++ sparse block matrix library aimed at Second Order cone problems
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Bibliographic References
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M. Fukushima, Z.-Q. Luo, and P. Tseng. Smoothing functions for second-order-cone complementarity problems. SIAM J. on Optimization, 12:436–460, February 2002.

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Toby D Heyn. On the modeling, simulation, and visualization of many-body dynamics problems with friction and contact. PhD thesis, THE UNIVERSITY OF WISCONSIN-MADISON, 2013.

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F. Jourdan, P. Alart, and M. Jean. A Gauss-Seidel like algorithm to solve frictional contact problems. Computer Methods in Applied Mechanics and Engineering, 155:31–47, 1998.

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Yurii Nesterov. A method of solving a convex programming problem with convergence rate o (1/k2). Soviet Mathematics Doklady, 27(2):372–376, 1983.

[8]

Alessandro Tasora. Efficient simulation of contacts, friction and constraints using a modified spectral projected gradient method. 2013.