rigid-bodies

I'm wanting to create a physics engine within Java. However it's not the code I'm bothered about. It's simply the math of rigid body physics, specifically forces and how they affect the rotation of an object. Let's say for example that I have a square with same length sides. The square will be accelerating towards ground level due to gravity (no air resistance). This would mean that there would be a vector force of (0,-9.8)m/s on every point in the square. Now let's say that this square is rotated slightly. When this rotated square comes into contact with the ground (a flat surface) there will

Let's say that you have a Rigidbody Object that moves. Force is added to this Object via Rigidbody.AddForce or Rigidbody.velocity . The Object can roll hit another Object and change direction. I know about Extrapolation but in this case, it's nearly impossible to use some formula to obtain the position of the object in x seconds, since the Object can hit another object and change speed/direction in the process. Unity 2017 introduced Physics.autoSimulation and Physics.Simulate to solve this problem. For 2D physics, that is Physics2D.autoSimulation and Physics2D.Simulate . All I did was first