All's Well That Ends Well: Supplementary Proofs

This document complements the paper "All's Well That Ends Well: Guaranteed Resolution of Simultaneous Rigid Body Impact" and provides detailed proofs of several claims therein: that pairwise Gauss-Seidel-like algorithms and Generalized Reflections, when modified according to the template shown in Algorithm 3, satisfy all the inexact impact operator desiderata, and hence are guaranteed to terminate, just as are their exact arithmetic counterparts.