position based dynamics

[vpuri3]

hi all, I'm new to robotics and was wondering if anybody has thoughts on Position Based Dynamics methods: https://matthias-research.github.io/pages/publications/smallsteps.pdf. They seem to be able to account for constraints in a seemingly straightforward way.

if there is interest, I'm willing to prototype these algorithms in RigidBodyDynamics.jl, or start a new project altogether. im really just trying to get started with robotics simulations for kicks. my background is in writing fluid dynamics solvers. thanks in advance for your guidance