"Large Steps in Cloth Simulation" - David Baraff and Andrew Witkin

Summary: The major contribution is a system for performing cloth simulation using implicit integration as opposed to explicit integration.
This results in far superior performance compared with previous cloth simulation methods.

Key Contributions/Points

 * Method for performing implicit integration
 * Definition of the various forces involved 
	- stretch
	- shear
	- Bend
	- Damping
	- gravity, etc
 * Framework and methods for applying constraints
 * Modified Conjugate gradient method - based on exploiting modified version of inverse mass matrix used in constraints imposed on cloth particles
In order to maintain the constraints during each iteration, filter a such that the effect is the same as multiplying by the modified mass matrix
but without the multiplying by 1/m;
 

Method for Performing implicit integration

 * The step in the implicit method is calculated based on the conditions at the end of the step 
 * Perform the taylor expansion of f to say f(x0 + deltax, v0 + deltav) = f0 + df_dx*deltax + df_dv*deltav
 * subsitute the taylor series expansion of f into the equation definding deltax and deltav
 * This sets up a linear system which after some rearanging is solvable with a conjugate gradient method.

Questions we hard regarding this paper

 * what is the "trick" that Mike is referring to in the implicit integration - is it just the applying of the taylor series expansion to f
 * Are the definitions of various forces based on the deformation of the triangle any better than a connected grid of masses?