[naillo]

Good survey on many other extensions too: http://mmacklin.com/2017-EG-CourseNotes.pdf

[zokier]

How does PBD compare to IPC[1] derived methods, like affine body dynamics[2] that I happened to notice in the latest siggraph papers?

[1] https://ipc-sim.github.io/ (see related projects section at bottom)

[2] https://arxiv.org/abs/2201.10022