My attempt at constraints in a rigid body physics simulation. No springs here. Just hardcore linear systems. I grabbed the math + algorithm out of a Game Developer. I never got it working. I took a class on Numeric Linear Systems and implemented a few different linear system solvers. I never got it working.

Between the constraint equations of this project and my attempt at resting collisions in my rigid body collision detection project, I have not once yet implemented a successfully working linear system solver. I think once I did get SVD working for some remote homework assignment . . . if only I could still find that code . . .