This is an *extremely* preliminary result of my GJK / EPA collision detection (based on Gino van den Bergen's collision detection book), and impulse-based response (via Eberly's Game Physics). It works on arbitrary 3d objects (does center of mass / inertia tensor calculations for arbitrary triangle meshes, then does approximate convex decomposition).

It still has glaring precision issues (boxes may choose to go through the floor), does not have friction, multiple contact points or resting contact implemented, and there are still a number of improvements I hope to make. All that aside, it works! :D

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