The author of Box2D just put out a fantastic blog post on exactly that subject: https://box2d.org/posts/2024/02/solver2d/ https://box2d.org/posts/2024/02/solve

The author of Box2D just put out a fantastic blog post on exactly that subject: https://box2d.org/posts/2024/02/solver2d/ https://box2d.org/posts/2024/02/solver2d/ The author's video linked at the bottom of the post shows how each solver handles various hard stacking problems https://youtu.be/sKHf_o_UCzI https://youtu.be/sKHf_o_UCzI