depth
stiffness K
substeps
restitution
shake
back to exact
velocity Verlet
semi-implicit Euler
penalty — springs
constraint — minimal position solver
disks
stiffness K
iterations
friction μ
substeps
vat width
restitution
roll damping
tilt
0°
reset
pause
step ×1
shake
click: throw
force chains
spin marks
penalty — springs
constraint — minimal position solver
disks
stiffness K
iterations
friction μ
substeps
vat width
restitution
roll damping
tilt
0°
reset
pause
step ×1
shake
click: throw
force chains
spin marks