game programming gems4中的物理部分代码，包括刚体动力学中约束器、互动水面、基于verlet积分方程的物理引擎-game programming gems4 the physical part of the code, including rigid body dynamics constrained devices, interactive surface, based on the physics engine verlet integral equation

使用verlet积分实现的2d刚体动画demo-Points achieved using verlet 2d animation demo rigid body