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resolving arbitrary point on rigid body

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is it possible to resolve a constraint connecting arbitrary points on two rigid bodies, in the same manner as an non-rotational particle? That is, by correcting the position, as opposed to applying forces? there are several implementations around using forces/impulses, but we're using verlet integration and for simple constraints the position resolve works so well.

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Yes. Constraint forces may have more of a physical basis in reality and provide more realistic results, but explicitly enforcing constraints with verlet integration works well enough for a lot of things. This is the method described in this article, which discusses the physics used for ragdolls in the game Hitman.

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