This paper presents a system to support people who want to fold nonelementary origami works. It is based on an origami simulator that can handle papers with nonzero thickness. An origami paper is initially modeled as a rigid body in a dynamics simulator. The user of the system can add a crease to the paper to split the rigid body into two rigid bodies connected by springs and dampers. Then the paper can be folded along the crease. Repeating this process, nonelementary origami works like a dragon, and a humanoid robot can be folded in the system with mouse operation. After an origami work is completed in the simulator, its crease pattern is obtained. The pattern is added to an origami paper by a cutting plotter, to make folding an actual origami work much easier. The entire folding process in the simulator is recorded and can be replayed for step-by-step folding instructions as 3D graphics. Smartglasses can be used for AR display of the graphical instructions that are hands-free operable via voice commands.