Dr. James Sethna's Stat Mech Book | Applications to Computational Stat Mech

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Dr. James Sethna's book on Statistical Mechanics is highlighted for its valuable applications to Computational Statistical Mechanics. It includes course materials and interactive JAVA applets to enhance understanding. The discussion also references additional resources for further reading on statistical physics. Links to these materials are provided for easy access. This book is a recommended resource for those interested in the computational aspects of statistical mechanics.
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I am going through this course on collision detection: https://siggraphcontact.github.io/ In this link is a PDF called course notes. Scrolling down to section 1.3, called constraints. In this section it is said that we can write bilateral constraints as ##\phi(\mathbf{x}) = 0## and unilateral constraints as ##\phi(\mathbf{x}) \ge 0##. I understand that, but then it says that these constraints call also be written as: $$\mathbf{J} \mathbf{u} = 0, \mathbf{J} \mathbf{u} \ge 0,$$ where...

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