References

How it works

The engine uses the following techniques:

• Time-corrected position Verlet integrator
• Adaptive grid broad-phase detection
• AABB mid-phase detection
• SAT narrow-phase detection
• Iterative sequential impulse solver and position solver
• Resting collisions using resting constraints (Erin Catto, GDC08)
• Temporal coherence impulse caching and warming
• Collision pairs, contacts and impulses maintained by a pair manager
• Approximate Coulomb friction model using friction constraints
• Constraints solved with the Gauss-Siedel method
• Fixed or variable time step
• A basic sleeping strategy

For more information see the post on Game physics for beginners.