C++ implementation of XPBD: Position-Based Simulation of Compliant Constrained Dynamics http://mmacklin.com/xpbd.pdf

Then build, run and understand the libigl tutorial.

Compile this project using the standard cmake routine:

mkdir build
cd build
cmake ..
make

This should find and build the dependencies and create a XPBD binary.

From within the build directory just issue:

./XPBD

The only dependencies are stl, eigen, libigl and the dependencies of the igl::opengl::glfw::Viewer.

We recommend you to install libigl using git via:

git clone https://github.com/libigl/libigl.git
cd libigl/
git submodule update --init --recursive
cd ..

If you have installed libigl at /path/to/libigl/ then a good place to clone this library is /path/to/XPBD/.