1. Contact Problems and their Solution.- Part I. Basic Concepts.- 2. Linear Algebra.- 3. Optimization.- 4. Analysis.- Part II. Optimal QP and QCQP Algorithms.- 5. Conjugate Gradients.- 6. Gradient Projection for Separable Convex Sets.- 7. MPGP for Separable QCQP.- 8. MPRGP for Bound Constrained QP.- 9. Solvers for Separable and Equality QP/QCQP Problems.- Part III. Scalable Algorithms for Contact Problems.- 10. TFETI for Scalar Problems.- 11. Frictionless...