I made an implementation of the “Iterative Dynamics with Temporal Coherence” paper by Erin Catto . Actually it is based on multiple presentations of Erin Catto, please see link. References  Catto, Erin. “Iterative dynamics with temporal coherence.” Game developer conference. Vol. 2. No. 4. 2005.
A Verlet based approach for Game Physics
These are some old experiments from a few years ago based on the famous paper “Advanced Character Physics” by Thomas Jakobsen  (link). The main idea behind verlet based physics is that everything exists out of particles and constraints between those particles. For example, a cube exists out of 4 particles, one in every corner. …