InertiaEngine 是一个使用C++编写的2D 刚体物理特性仿真器，可跨平台使用，还包含多边形碰撞检测算法，支持碰撞反应，静态摩擦，动态摩擦。-InertiaEngine is a 2D rigid body physic engine written in C++ and is not OS dependent. It is designed to be very user friendly. It contains also a 2D convex polygon collision

hyperbolic model abaqus fric sub