2D Rigid-Body Physics & Collision Engine

Headless, deterministic 2D rigid-body physics simulation engine in pure Python stdlib with SAT, GJK & 207 tests.

Production-grade, headless, deterministic 2D rigid-body physics simulation engine built entirely in pure Python standard library. Features SAT (Separating Axis Theorem), GJK (Gilbert-Johnson-Keerthi) distance checks, manifold generation with vertex-face clipping, dynamic AABB tree broadphase, sequential impulse solver with friction and restitution, Baumgarte position stabilization, Distance and Revolute joint constraints, continuous collision detection (CCD), and full JSON telemetry and ASCII visualization.

• Python 3.10+ Native (Zero External Dependencies)
• Deterministic Simulation & Seed Reproducibility
• 207/207 Pytest Suite Passing
• Dynamic AABB Tree Broadphase + SAT/GJK Narrowphase
• Sequential Impulse Constraint Solver (Friction & Restitution)
• Distance & Revolute Joint Constraints
• CLI: Demo, Bench (>920 steps/s), Gen, and Joints
• Royalty-Free Commercial License