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README.md

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- universal joint
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- ball joint between rigid body and particle
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## Screeshots
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![Cloth demo](http://www.interactive-graphics.de/j_images/PositionBasedDynamics.jpg "Cloth demo")
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## References
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* J. Bender, M. Müller and M. Macklin, "Position-Based Simulation Methods in Computer Graphics", In Tutorial Proceedings of Eurographics, 2015

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