Nape

Nape is a physics engine built in haXe using caXe preprocessor  primarily targeting flash player; also tested to compile for hxcpp. It has an incredibly safe and friendly API and features such as general rigid body fluids.

Some other features:

• Rigid bodies built from convex polygons and circles
• Geometric utilities (Verification, Simplification, Convex decomposition, Marching Squares with composition of generated polys).
• Choice of broadphase+sleeping
• Sleeping of objects done without islands for increased effeciency.
• Viewport to evaluate visible objects easily for large physics domains.
• Resting contact with elasticity
• Friction (Dynamic,Static,Rolling*)
• Highly-optimised
• Constraints
• Detailed constraint control with breaking + callbacks
• Callback procedurs for sleeping/waking of bodies and out of bounds behaviour aswell as entry/exit to viewport.
• Callbacks for collisions and sensors to be applied between shape types, object types, and group types.
• Grouping of objects for callback behaviour and exclusion groups
• Query object at position + ray casting
• Evaluation of impact strengths, how much an object is being crushed and an objects stress

Sample

package {
  import flash.Boot;
  import flash.display.*;
  import flash.events.*;

  import nape.geom.Vec2;
  import nape.phys.Body
  import nape.phys.BodyType;
  import nape.phys.FluidProperties;
  import nape.shape.Shape;
  import nape.shape.Circle;
  import nape.shape.Polygon;
  import nape.space.Space;
  import nape.util.Debug;

  public class Main extends Sprite {
       public function Main():void {
           if (stage) init();
               else addEventListener(Event.ADDED_TO_STAGE, init);
           }

       private function init(e:Event = null):void {
           new Boot();
           removeEventListener(Event.ADDED_TO_STAGE, init);

           stage.quality = StageQuality.MEDIUM;

           var space:Space = new Space(new Vec2(0, 300));
           var debug:Debug = new Debug();

           var ground:Body = new Body(BodyType.STATIC);
           ground.shapes.add(new Polygon(Polygon.rect(0, 550, 600, 50)));
           ground.shapes.add(new Polygon(Polygon.rect(0, 0, 10, 600)));
           ground.shapes.add(new Polygon(Polygon.rect(600, 0, -10, 600)));
           ground.shapes.add(new Polygon(Polygon.rect(200, 400, 200, 20)));
           ground.shapes.add(new Polygon(Polygon.rect(290, 420, 20, 130)));
           ground.space = space;

           var water:Body = new Body(BodyType.STATIC);
           water.shapes.add(new Polygon(Polygon.rect(590, 500, -280, 50)));
           water.shapes.add(new Polygon(Polygon.rect(10, 500, 280, 50)));

           for (var i:int = 0; i < water.shapes.length; i++) {
               var shape:Shape = water.shapes.at(i);
               shape.fluidEnabled = true;
               shape.fluidProperties = new FluidProperties(4, 10);
           }

           water.space = space;

           for (var y:int = 0; y < 10; y++) {
               for (var x:int = 0; x <= 50; x++) {
                   var box:Body = new Body(BodyType.DYNAMIC, new Vec2(50+x*10,50+y*20));
                   if ((x+y)%2 == 0) shape = new Polygon(Polygon.regular(10, 20, 4));
                   else shape = new Circle(5);

                   shape.body = box;
                   box.space = space;
               }
           }

           addEventListener(Event.ENTER_FRAME, function (ev:Event):void {
               space.step(1 / 60);
               graphics.clear();
               debug.draw(graphics, space);
           });

           debug.draw(graphics, space);
       }
  }
}