Z/X - previous/next demo
up - turn on/off aabb tree
down - reset simulation
Several physics demos I've written in pico-8. These follow from the work of Erin Catto (see http://twvideo01.ubm-us.net/o1/vault/gdc09/slides/04-GDC09_Catto_Erin_Solver.pdf)
The solver solves both inequality constraints (e.g. collisions) and equality constraints (e.g. joints).
I've reduced the framerate for web down to 30fps, but it works well at 60fps (in face the higher framerate is better for the solver).
Still issues to solve, e.g. jitter on resting contact, so I probably need to do a rewrite at some point.
update
I've added a couple more demos including mass-spring-damper systems