The core idea (backwards time integration) seems to be implemented here: https://github.com/saharan/works/blob/main/clock/src/phys/World.hx https://github.com/

The core idea (backwards time integration) seems to be implemented here: https://github.com/saharan/works/blob/main/clock/src/phys/World.hx https://github.com/saharan/works/blob/main/clock/src/phys/Wo... And by the looks of it, there is a description here: https://blog.oimo.io/2022/02/11/clock-core/ https://blog.oimo.io/2022/02/11/clock-core/ I'm not passionate enough to try and (machine-)translate it, even though I would've really liked to understand how you make collision handling work backwards (especially since the simulation clearly seems to have energy dissipation)...