Any success from non penetrating NP hard in real time interactions?

[MyelinsheathXD]

Hello folks ! Does anybody knows any 3d physics engine solver that uses Non penetration algorithm ( David Baraff)?
(ref https://www.myphysicslab.com/engine2D/contact-en.html
http://www.cs.cmu.edu/~baraff/sigcourse/
)

Core systems are
1 fastest NP-hard (Nonlinear Programming) equation solver
2. fastest collision detector and predicting algorithm (which is continues collision detection)

Maybe any real complex real time joint problems can be solved by hardware acceleration like games' Ray tracing !

here the same 2d physics engine version
https://www.myphysicslab.com/engine2D/contact-en.html

It really amazing to see that when these 2 issues solved as quickly as possible, real time physics simulation becomes in the highest precision!