This is a rigid body simulator that I wrote to make sure I get the equations of motion and integration basics. During this period of my life, I was interested in physical simulation. Writing a physics simulator is fun. Especially when you see your creation coming to life. This code supports convex rigid bodies and their assemblies. The narrow phase collision detection is done with Lin-Canny and collision response is handled through impulses. It does not have the fancy LCP contact resolution.