Simulating dry interacting fibres is relevant to a diverse set of applications, ranging from the fundamental understanding of fibre entanglement [1] to the realistic animation of hair in special effects [4, 6] and the virtual prototyping and design of a wide set of new rod-based materials in the fields of engineering [5]. Since the 2000’s, a number of numerical models for fibres subject to frictional contact has therefore been developed both in Computer Graphics and Mechanical Engineering, with variability across the validity range, computational performance, and predictability. While the former community has focused on the simulation of extremely complex scenes (thousands to millions long interacting fibres under large displacements), often at the expense of little quantitative validation, the latter has generally favoured much simpler scenarios (small deflection of beams, low number of fibres and contact points, regularised friction laws) albeit with extensive care for predictability.