Hernández, FernandoGarre, CarlosCasillas, RubénOtaduy, Miguel A.Silva, F. and Gutierrez, D. and Rodríguez, J. and Figueiredo, M.2021-06-182021-06-182021978-3-03868-152-6https://doi.org/10.2312/pt.20111145https://diglib.eg.org:443/handle/10.2312/pt20111145Characters, like other articulated objects and structures, are typically simulated using articulated dynamics algorithms. There are efficient linear-time algorithms for the simulation of open-chain articulated bodies, but complexity grows notably under additional constraints such as joint limits, loops or contact, or if the bodies undergo stiff joint forces. This paper presents a linear-time algorithm for the simulation of open-chain articulated bodies with joint limits and stiff joint forces. This novel algorithm uses implicit integration to simulate stiff forces in a stable manner, and avoids drift by formulating joint constraints implicitly. One additional interesting feature of the algorithm is that its practical implementation entails only small modifications to a popular algorithm.I.3.7 [Computer Graphics]Virtual Reality10.2312/pt.20111145163-168