Erin CattoRecently I started a side project called Solver2D https://github.com/erincatto/solver2d. The idea is to create a platform for prototyping and comparing many different 2D rigid body solvers. So far there are 8 solvers including PGS, TGS, NGS, and XPBD. I've created many tests that push these solvers to their limits. Read about it here https://box2d.org/posts/2024/02/solver2d/ and see the solvers compared here https://www.youtube.com/watch?v=sKHf_o_UCzI
Oscar Civit Flores@erin_catto this is very useful for learning and prototyping, thanks for doing the hard work and publishing it.
I also ran into friction issues with XPBD, initially, and I think I found a reasonable workaround that achieved static friction, but not sure how accurate is it. Will try to remember the details and report back.