   Verlet - 'Rigid bodies' inverting.
  Hi guys,So I have been playing recently with verlet to simulate a body attached to rope. The simulation is constructed by a verlet rope attached to the body. The body is also represented by a verlet mesh. Each node in the mesh has a joint attaching it to every other node to create a someone inefficient but hopefully rigid-ish body.The problem I am having is that if I apply an impulse to a particle with such a velocity that it goes beyond the distance of the other particle in that joint / stick, the mesh inverts, still solving all of the constraints perfectly but obviously not giving the correct responce and also swapping the handedness of my meshes matrix causing the y to flip and it to render upside down.Are there any elegant ways of fixing this? Angular constraints maybe?I am using using the relaxation method.(Edit this is in 3d :) )Thanks   
Quote:Original post by chipmeistercAre there any elegant ways of fixing this? The best way is - ditch the particle/verlet approach. Solving problems like you've found as well as friction, controllable collision response etc make it really messy. Far better to use an impulse based method, which might seem a bit tricker initially, but ends up being much nicer and usable (in my experience).