Build full A matrix and b vector for a MLCP solver interface, to explore Lemke, Dantzig, Newton and other MLCP solvers. The A matrix contains sparsity information.

Added a PGS solver that uses the sparsity of the A matrix, just for testing (the equivalent sequential impulse solver is much faster, not having to allocate the big matrices)

Demos/OpenGL/GlutStuff.cpp

@@ -78,7 +78,7 @@ int glutmain(int argc, char **argv,int width,int height,const char* title,DemoAp
 
 	glutInit(&argc, argv);
     glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH | GLUT_STENCIL);
-    glutInitWindowPosition(0, 0);
+    glutInitWindowPosition(width/2, height/2);
     glutInitWindowSize(width, height);
     glutCreateWindow(title);
 #ifdef BT_USE_FREEGLUT