All the animations above were generated with my simulation environment. It consists of two parts. The first part is an extension for Autodesk Maya. This extension is used to create the dynamic models with all types of joints. These models can be exported into a XML file. The XML file is imported in the simulator (see the picture below) and the dynamic simulation can start. The simulator contains several constraint solvers, different collision detection methods and multiple methods for collision response and contact handling with friction. The user can change all parameters of the model and the simulation methods at run-time. He also has the possibility to manipulate the model by different force controllers. The simulator contains an OpenGL, a Gnuplot and a MEL output. MEL is the scripting language of Maya. Such script files were used to generate the animations. Another nice feature is the support of Python scripts in the simulator. A Python script can be used to manipulate the model, to control the whole simulator or to extend the simulator. The script files can be loaded and executed at run-time. The execution is done manually or by special events.