Algorithm 2.

self-collision response

1:	procedure selfCollisionResponse
2:	for each pair of line segments i, j do
3:	evaluate direction to move q̂= sign(w(t).w(t+Δt)).ŵ(t+Δt)
4:	evaluate distance to move u = D − sign(w(t).w(t+Δt))|w(t+Δt)|
5:	compute displacements Δp̄i and Δp̄j
6:	evaluate ${\overline{\mathbf{p}}}_i^{(t+\mathrm{\Delta }t)}$ and ${\overline{\mathbf{p}}}_j^{(t+\mathrm{\Delta }t)}$ (points at the end of w̄(t+Δt))
7:	compute gi = −Δp̄iq̂, gj = Δp̄jq̂ and g = gi + gj
8:	compute vectors $\frac{g_i}{g}u\widehat{\mathbf{q}}$ and $\frac{g_j}{g}u\widehat{\mathbf{q}}$
9:	apply response to line segnrents i,j
10:	end for
11:	end procedure