How can I get the use of dSolveLCP in bullet

[Rullec]

Hi all,
Recently I am leaning the constraint solver from bullet. I notice that it has a nice LCP solver so really eager to migrate & test in my own code.

But it has a quite strange interface which drives me crazy, no comments as well as below:

//***************************************************************************
// an optimized Dantzig LCP driver routine for the lo-hi LCP problem.

void dSolveLCP(int n, dReal *A, dReal *x, dReal *b, dReal *outer_w /*=NULL*/,
               int nub, dReal *lo, dReal *hi, int *findex)

Would you please be happy to give me some guidence on it? Or any resource?
Any suggestions are appreciated, thanks!