Disclosed is a method of simulating a dynamic object comprising a plurality of vertices. The method comprises defining a current position and a current velocity for a vertex “V” among the plurality of vertices, generating an estimated next position for vertex “v” based on the current position and current velocity, updating the estimated next position based on a plurality of constraints, and after updating the estimated next position, computing a next position and a next velocity for vertex “v” based on the current position and estimated next position.