July 30, 2021
Course notes pre-print and slide decks have been added.
July 27, 2022
Revised course notes for SIGGRAPH 2022. Updated material includes:
- new chapter on barrier and penalty methods
- new chapter on soft-body contact
- additional content on anisotropic friction
- tutorial on programming a rigid body sim with frictional contact
- many improvements to text, corrections to spelling/grammar/equations