any plans to Direct solver for LCP like Roblox

[MyelinsheathXD]

any plans to Direct solver for LCP like Roblox physics do,
Roblox team did a great job regarding to solve LCP in real time using direct method,
I think this feature gives great accuracy to robotics simulation

https://youtu.be/P-WP1yMOkc4

[yuvaltassa]

We have plans to implement implicit complementarity at some point, but MuJoCo's current contact model is complementarity-free, for good reason. LCP's are non-convex and hard to solve. MuJoCo's Newton solver is by far the fastest and most accurate solver in any full featured simulator. To get a sense of how good it is, load any model and switch between Newton and PGS (what Roblox are using, though quite efficiently) while looking at the built-in profiler, and see how much better the Newton solver is.

[kevinzakka]

For a non-paywalled link: https://homes.cs.washington.edu/~todorov/papers/TodorovICRA10.pdf