I. Introduction  
A. Motivation  
B. Contributions  

II. Related Work  

III. Implementation  

IV. Results  
A. Testing Methodology  
B. Momentum conservation in collisions  
C. Energy conservation in constraints  
D. Stability  
E. Linear and Rotational Kinetic Energy  
F. Friction  
G. Physically Impossible Scenarios  
H. Unsolvable Constrained Scenarios  
I. Performance  

V. Discussion  
A. Position Based Rigid Body Dynamics  
B. Jacobi Solver Position Based Rigid Body Dynamics  
C. Unity  
D. Havok  

VI. Conclusion