2D-physics-engine

Sequential impulse constraint solver

Features

• Circles and convex polygons
• Friction, restitution
• Constraints solved on velocity with Baumgarte stabilization and customizable stiffness (see Random right click and drag or Car wheels)
  • "Anchor": set point on body A
  • "Distance": set distance between point on A and point on B
  • "Union": join two bodies together (build complex shapes)
  • "Joint": point on A = point on B
• Collision layers

Demos

Random

Left click to grab; right click to pull

Car

RIGHT/D to accelerate wheels clockwise LEFT/D to accelerate wheels counter-clockwise UP/W to tilt clockwise DOWN/S to tilt counter-clockwise