Collision
- Convex polyons and circles.
- Multiple shapes per body
- One-shot contact manifolds
- Incremental sweep-and-prune broadphase
- Efficient pair management
- Fast broadphase AABB queries
- Collision groups and categories
Physics
- Persistent body-joint-contact graph
- Island solution and sleep management
- Contact, friction, and restitution
- Stable stacking with a linear-time solver
- Revolute, prismatic, distance, pulley, gear, and mouse joints
- Joint limits, motors, and friction
- Momentum decoupled position correction
- Fairly accurate reaction forces/impulses
System
- Small block and stack allocators
- Centralized tuning parameters
- Highly portable C++ with no use of STL containers
