resting contact

[Isawyou]

hi!
I have a rectangle that viber on the floor when there is two contacts, and also gravity,
I read lcp for inequality constraint but it's hard to understand;
c=af+b;c for constraint
and lambda

dont understand at all any tuto plz

[Isawyou]

sequential impulse, wanna learn about it;
erin catto c# source code, didn't understand everything