Optimized impulse-based dynamic simulation

The impulse-based dynamic simulation is a recent method to compute physically based simulations. It supports the simulation of rigid-bodies and particles connected by all kinds of implicit constraints. In recent years the impulse-based dynamic simulation has been more and more used to simulate deformable bodies as well. These simulations create new requirements for the runtime of the method because very large systems of connected particles have to be simulated to get results of high quality. In this paper several runtime optimizations for the impulse-based dynamic simulation are presented. They allow to compute the same simulations at a fraction of time needed for the original method. Therefore, larger systems or simulations with increased accuracy can be simulated in realtime.