3. Precomputed

11. Solving for j

13. Equality Constraint

15. Computing f based on the change of the acceleration at Pa

16. Conditions on the constraint force Avoid inter-penetration distance between two contact points > 0 Repulsive forces Zero values if contact breaks

20. Rest contact Separating

21. Non-penetration Repulsive Zero value if contact breaks

25. Dynamic Simulation Software Open Dynamics Engine (ODE) –Open source library for simulating rigid body dynamics –Supports joints, collision detection, and friction Coriolis—rigid body dynamics engine in Maya

26. Video Jovan Popović, Steven M. Seitz, Michael Erdmann, Zoran Popović, Andrew Witkin “Interactive Manipulation of Rigid Body Simulations” SIGGRAPH 2000