When approximating the constraints locally to first order, this is the same as the Gauss–Seidel method. For small matrices it is known that LU decomposition is faster. Large systems can be divided into clusters (for example, each ragdoll = cluster). Inside clusters the LU method is used, between clusters the Gauss–Seidel method is used. The matrix code can be reused: The dependency of the forces on the positions can be approximated locally to first order, and the Verlet integration can be made more implicit.