As an aside, v = v + a * dt; p = p + v * dt; is typically more accurate. The first form is Forward Euler integration [1], while my suggestion is Semi-impl

As an aside, v = v + a * dt; p = p + v * dt; is typically more accurate. The first form is Forward Euler integration [1], while my suggestion is Semi-implicit Euler [2]. [1]: https://en.wikipedia.org/wiki/Euler_method https://en.wikipedia.org/wiki/Euler_method [2]: https://en.wikipedia.org/wiki/Semi-implicit_Euler_method https://en.wikipedia.org/wiki/Semi-implicit_Euler_method