This paper presents an overview of our recent work on continuous collision detection methods and constraints handling for rigid polyhedral objects. We demonstrate that continuous collision detection algorithms are practical in interactive dynamics simulation of complex polyhedral rigid bodies and show how continuous collision detection and efficient constraint-based dynamics algorithms allow to perform various virtual prototyping tasks intuitively, precisely and robustly on commodity desktop computers. Especially, we present two applications of our system to actual industrial cases. We note that both tasks are performed with a simple 2d mouse on a high-end computer.