Frâncu, MihaiMoldoveanu, F.Jan Bender and Christian Duriez and Fabrice Jaillet and Gabriel Zachmann2014-12-162014-12-162014978-3-905674-71-2https://doi.org/10.2312/vriphys.20141231This paper presents a new method for simulating particles for computer graphics and video games, based on an improved Jacobi solver and a hybrid approach between velocity time stepping and position based dynamics. Current constrained dynamics solvers use relaxation iterative methods like Gauss-Seidel or Jacobi. We propose a new iterative method based on a minimum residual variant of the Conjugate Gradient algorithm and show that it can be formulated as an improvement to the Jacobi method. We also describe an adaptation of position based dynamics to better handle contact and friction and allow tight two way coupling with velocity level methods.I.3.5 [Computer Graphics]Computational Geometry and Object ModelingPhysically Based Modeling