This code contains an extremely simple impulse-based rigid body solver, although with only one joint type-
the rod joint discussed in the paper. Although the constraint function is coded in a similar way to our
high-performance C++ version, this is still Matlab and performance is really quite bad. Still, the code 
should give a good idea of how the constraint should be implemented.

To run the code, add the folders gfx and maths to your matlab path and run main.m. The rod constraint
implementation is in RodConstraint.m, and Simulation.m has the pre-and post update code. To setup a different
scene, you can edit main.m.