The simulation uses [Box2D](http://box2d.org/) as a physic engine.
Information about its algorithms can be found on the page above or [Here (pt1)](https://ftp.tu-ilmenau.de/index.php?id=c864408a51d84cf9235d0d095f9de8bf).
Information about its algorithms can be found on the page above or [here](https://ftp.tu-ilmenau.de/index.php?id=c864408a51d84cf9235d0d095f9de8bf).