[tel]

Ha, and I had to speak of it that way for the same reason.

I believe that constraints are explicit, but their cumulative effect is difficult to predict. A constraint which wipes out some part of the feasible space with lots of vertices can have sudden and dramatic (non-local) impact on the solution. If your solver is approximate or your solution non-linear it might be incredibly difficult to figure out where the solver will ultimately land.

[seanmcdirmid]

I have found Verlet integration with an implicit velocity to be really good in this regard. It doesn't conserve energy very well, but it is very easy to work with (predictable) when doing animations since constraints are expressed by updating particle positions directly. I wrote a half baked paper on this once:

http://research.microsoft.com/pubs/191705/uiphysics09.pdf

[tel]

I'll take a look; thanks!