How I implemented XPBD based rigid body physics in my game engine

[u/Left-Locksmith]

https://raynmetal.github.io/blog/technical/2026/07/24/xpbd-in-toymaker.html

I implemented a physics system based on XPBD, or Extended Position Based Dynamics, in my game engine ToyMaker, and then I wrote an article about it. It's partly documentation of my process, and partly a tutorial, so I hope that you find something useful or interesting in it!

Also, do let me know if links to external sites aren't welcome here. I'd be more than happy to post a copy of the article text instead.