I am attempting to code a simple spring mass system simulation in which a sphere pendulus hangs from a string (a spring) by the top and then another sphere (controlled by the user) can move and interact (collide) with this hanging sphere.

I have already coded the dynamics of the spring part of the simulation, but I do not know enough to add the rigid body dynamics. I would like either an explanation or a source to understand how to algorithmicaly do this simulation.


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