[quote name='raigan' timestamp='1301068878' post='4790395']
Awesome, thanks so much!

I'll move questions to the comments on the post

No problem

Since i wrote the article a number of people have asked to modify the discrete solver i used in the demos to account for penetration resolution; thereby making the comparison more 'real word' since no discrete solver can really exist without it....

I have done so, please take a look if any of you were wondering what this would look like, and thank you Dirk and Erin for the feedback

Cheers, Paul.
[/quote]



Speculative contact constraints as well as contact clamping in 3D (both using conservatice advancement) is available in the new C++ Bullet 2.78 SDK:
http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6624

Check out the Demos/CcdPhysicsDemo.
Thanks,
Erwin