my PhD thesis about my impulse-based simulation method is now online. You can find it on my web page:
http://www.impulse-based.de
The thesis discusses the simulation of joints and the handling of collisions and contacts with friction. It is written in German. For those who don't speak German just read the papers
![Wink :wink:](./images/smilies/icon_wink.gif)
So if you are interested just download it,
Jan