XPBD Simulation
This project is an implementation of Extended Position-Based Dynamics (XPBD) for simulating compliant constrained physics. It has evolved from the earlier custom game-engine work into a focused physics simulator, while retaining engine support that makes the simulation easier to use and extend.
The implementation is primarily written in C++ and C. It follows the XPBD approach described in Position-Based Simulation of Compliant Constrained Dynamics and includes supporting game-engine systems around the simulator.