Below, you can find a demo of my physics engine. The engine is coded in java and its main architecture is based on Ian Millington's book, Game Physics Engine Development. Engine still contains some bugs on collision part. When a collision is being resolved, interpolation resolution is carried out a little carelessly. This results in rigid bodies being pushed into another rigid body while another interpolation is being resolved. Also when a round object hits a rectangle one right at its corner, the generated contact wouldn't have the proper contact normal.
Besides these two points, engine works pretty good (and pretty fast for a java program).
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