The aim of this tutorial is to add the constraint response in our scene. When a contact between two objects occurs, a constraint is created to generate a force to avoid the contact at the next time step.
In the root node, we add a FreeMotionAnimationLoop solver which gets the constraints from the objects, computes the LCP and propagates the contact correction.
In the instrument node, we add UncoupledConstraintCorrection to compute the constraints of the related object