A 3D physics engine that uses Separating Axis Test for collision detection, the clipping method for generating contact manifold, contact point reduction as outlined in  and a sequential impulses constraint solver as popularized by Erin Catto.
There's still a lot of issues and improvements to be made for this. The biggest ones being
- Stable stacking
- Improved broadphase with dynamic AABB tree
- Verlet integration instead of Euler
- Implement quickhull to generate more interesting hulls than just boxes
- Optimize SAT with edge pruning by using gauss maps
- Linux support (currently only builds on Windows)
- The code is a bit of a mess and could use some refactoring
- Dirk Gregorius. 2015. "Robust Contact Creation for Physics Simulations" GDC
- Erin Catto. 2006. "Fast and Simple Physics using Sequential Impulses" GDC
- Gin van den Bergen and Dirk Gregorius. 2010. "Game Physics Pearls"
- Christer Ericson. 2005. "Real-Time Collision Detection"
- Dirk Gregorius. 2013. "The Separating Axis Test Between Convex Polyhedra" GDC
- Dirk Gregorius. 2014. "Implementing QuickHull" GDC
- Erin Catto. 2019. "Dynamic Bounding Volume Hierarchies" GDC
- Erin Catto. 2014. "Understanding Constraints" GDC