The software is based on 3 main components • Siconos/Numerics (C
API). Collection of low-level
algorithms for solving basic
Algebra and optimization problems arising in the simulation of nonsmooth dynamical systems •
Linear complementarity problem (LCP) •
Mixed linear complementarity problem (MLCP) •
Nonlinear complementarity problem (NCP) •
Quadratic programming problems (QP) • Friction-contact problems (2D or 3D) (Second-order cone programming (SOCP)) • Primal or Dual Relay problems • Siconos/Kernel. API C++ that allows one to model and simulate the nonsmooth dynamical systems. It contains • Dynamical systems classes : first order one,
Lagrangian systems,
Newton-Euler systems • Nonsmooth laws : complementarity, Relay, Friction, Contact,
impact • Siconos/Front-end (API Python) Mainly an auto-generated
SWIG interface of the API C++ which a special support for data structure. == Performance ==