For a university assignment, we used the velocity Verlet method: https://en.wikipedia.org/wiki/Verlet_integration#Velocity_Verlet https://en.wikipedia.org/wiki/

For a university assignment, we used the velocity Verlet method: https://en.wikipedia.org/wiki/Verlet_integration#Velocity_Verlet https://en.wikipedia.org/wiki/Verlet_integration#Velocity_Ve... Each displayed object was backed by a simplified "physics 3D model" (small number of points of mass, fully connected with edges), and after applying forces and moving points, we checked the length of each connecting link and made sure that they didn't stretch or compress too much. Rigs of Rods has a similar model: https://en.wikipedia.org/wiki/Rigs_of_Rods https://en.wikipedia.org/wiki/Rigs_of_Rods