10 hours ago, miqvp22 said:
How do you know each particle orientation? How it should be the integration step to do so?
I did this like with usual rigid bodies, so each body stores orientation together with position. Angular velocity (or angular verlet displacement) needs to be integrated, and joints have given direction for both particles together with distance.
In contrast to rigid bodies i did not use nonuniform inertia but just the mass of the particle, so the prformance is better but still much worse than simple particles.
Before i decided to support orientation i tried some other things like plane constraints (particle can not cross the plane defined by 3 other particles), or tetrahedron constraints (4 particles keep that given shape and can not flip). But orientation ended up faster and more robust in the end for me.