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Cloth is generally more difficult to simulate than rigid bodies because cloth reacts differently to forces such as wind, gravity, collisions with rigid bodies, etc.The paper ???Advanced Character Physics??? by Thomas Jakobsen, dated Jan. 21, 2003 (http://www.gamasutra.com/resource_guide/20030121/jacobson???01.shtml), which is incorporated by reference herein in its entirety, describes a Verlet int
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