1. A method for simulating a first object and a second object that is coupled to the first object, said method comprising: (a) modeling the first and second objects as a plurality of segments, each segment having a plurality of nodes connected by one or more edges; (b) indexing each of the nodes and coupling at least a first node of the first object to a second node of the second object, wherein the indexing and coupling is based on a current simulated position of the first and second objects; (c) generating a linear system of equations Ay=b from the indexing; (d) solving the linear system of equations Ay=b; (e) updating a position of each of the nodes; and (f) returning to (b).