Rigid Body Simulation (updated)

This is the current state of my rigid body simulation. As I previously mentioned it uses MPR for the narrow phase of collision detection and Iterative Dynamics with Temporal Coherence for the resolution. I did not put friction in just yet, but I plan on adding it later along with Rag doll style bodies with joint constraints since IDTC allows it for it is a constraint based solver.

Spring System

This video represents a spring system but I generate the constraints out of the vertex buffer
of an arbitrary mesh. I wanted to try it. The point of this project was to implement different
integrators to see how they behave and which ones are more efficient/accurate than others. I implemented Verlet, Euler, Implicit Euler, and RK2. Verlet yield the best results for my application.

PS: When the spring network becomes really unstable it is because some integrators add energy to the system which causes  the springs to oscillate faster and faster.

Rigid Body Sim (Work In Progress)

First of all I would like to say that I am still working on the rigid body simulation. I am
implementing Minkowski portal refinement  (MPR)  for collision detection. I already have
implemented sweep and prune for my broad phase, and I use Euler as my integrator. For
collision resolution I would like to use “Iterative Dynamics with Temporal Coherence” the
constraint solver method Erin Catto describes in his paper that bears the same name.