During the last decade Virtual Reality has benefited of numerous works dedicated to the modeling and the simulation of multibody systems. Even if a large set of methods are already used by the community of computer graphics and virtual reality, some progresses need still to be made to bridge the gap between accurate mechanical simulation and efficient simulations in real-time of realistic systems. Particularly, the problem of the three dimensional frictional contact with impacts is a key point for the applications with haptic feedback. The work aims at adapting the outstanding methods in computational mechanics to the real-time constraints induced by Virtual Reality. For efficiency reasons, our work is based on the Non Smooth Contact Dynamics (NSCD) framework introduced by Moreau (1988). Two major advantages of the method can be exhibited for the real-time context: the method uses a time-stepping numerical scheme without explicit event-handling procedure and an unilateral contact impact formulation associated with the 3D Coulomb's friction law. In the present paper, we use and compare different iterative algorithms (Non Smooth Gauss-Seidel, projected conjugate gradient, the PATH solver) for complementarity problems with a direct one (Lemke). The efficiency of the methods is compared in terms of complexity, of quality ratio between visual feed-back of solution and convergence criterion and of CPU time keeping in mind the real-time constraint.