"Interactive Animation of Cloth-Like Objects for Virtual Reality" - Mathieu Desbrun, Mark Meye, Alan H. Barr

Summary

This is a chapter out of the book "Cloth Modeling and Animation".  In this chapter, they address the problem of interactive animation of 
deformable objects in virtual reality systems. 

Problem Solved

The problem that they solve is that both speed of animation and stability of the deformable system regardless of the action of the 
user are important

Method

They base their solution on the implicit integration solution of Baraff and Witkin, but instead of setting up the system of linear equations and
solving it each step, they divide the force from a spring into 2 parts, a linear and a non-linear part.

Key Ideas

This paper provides a method for doing cloth simulation with the large time steps allowed when using implicit integration, while maintaining a low
computation cost per step.  The key idea in this is the dividing of the spring force into a linear component and a non-linear component, then
pre-computing the filter matrix based on only the linear portion of the spring force, and assuming that the non linear component is constant and 
applying a post-correction of angular momentum.

Contributions

A system for simulating cloth in real time in a manner that is robust.  In 1999 this was able to simulate a piece of cloth with up to 800 masses
in real time.  I imagine that today a signifigantly larger piece of cloth would be possible.

Questions

I wonder how this compares to the semi-implicit integration techniques.