You might be interested in this tutorial: http://htmlpreview.github.io/?https://github.com/aguaviva/Physics/blob/master/ChainSimulation.html http://htmlpreview.

You might be interested in this tutorial: http://htmlpreview.github.io/?https://github.com/aguaviva/Physics/blob/master/ChainSimulation.html http://htmlpreview.github.io/?https://github.com/aguaviva/Ph... It shows how to extend the concept to a full blown engine