Here are some videos I took live from my physics engine application. They are real-time although not at 60 Hz as the simulation time step is set, but the code is not yet optimized and it was run on a i5 laptop. As soon as I get it on the desktop PC and start parallelizing I shoulg get more speed.
Anyway there's still a lot of work to do. The highlight for now is that I am able to simulate rigid bodies (and particles) with friction and cloth in the same solver (using PBD). The soft body (cow) is using a special version of the finite element method based on constraints and it's also running in the same solver with the cloth, hence the 2 way coupling. Constraint FEM vs. rigids is on the way and at some point they will all run together.
