I want to learn about physics engines, especially impulse-based ones. So I've followed along this tutorial to create some simple rigid-body physics: http://gamedevelopment.tutsplus.com/tutorials/how-to-create-a-custom-2d-physics-engine-the-basics-and-impulse-resolution--gamedev-6331 I've got this working and it seems pretty solid to me. So I wanted to add revolute (fixed) joints. I've started off with a simple structure: struct Joint { RigidBody* A; // One body Vec2 AnchorPointA; // A's ancho...
