I posted further down about Bepu Physics v2: https://github.com/bepu/bepuphysics2 https://github.com/bepu/bepuphysics2 It heavily uses numerics and the perform

I posted further down about Bepu Physics v2: https://github.com/bepu/bepuphysics2 https://github.com/bepu/bepuphysics2 It heavily uses numerics and the performance is amazing.