Estoy tratando de recrear la física y obtuve 2 cuerpos rectangulares vivos que rebotaban entre sí, sin embargo, cuando agregué más, comenzaron a encajar entre sí, así es como se ve . Dado que un cuerpo puede ser static o live , los bloques estáticos no se mueven:

 import { RigidBodyProps } from '../index'; export class Collision { static Start(gravity: number, target: RigidBodyProps, index: number, bodies: RigidBodyProps[]) { // Optimized collision search for (let i = index + 1; i < bodies.length; i++) { const targetCollides = checkCollision(target, bodies[i]); const bodyCollides = checkCollision(bodies[i], target); if (targetCollides !== 'none') { const restitution = 0.75; const targetMomentum = Math.abs(-target.speed.y * restitution + gravity); const bodyMomentum = Math.abs(-bodies[i].speed.y * restitution + gravity); if (targetCollides === 'bottom') return target.speed.y = targetMomentum; if (targetCollides === 'top') return target.speed.y = -targetMomentum; } } } } // Returns the side that was collided the most function checkCollision(b1: RigidBodyProps, b2: RigidBodyProps) { const dx = (b1.x + b1.w / 2) - (b2.x + b2.w / 2); const dy = (b1.y + b1.h / 2) - (b2.y + b2.h / 2); const width = (b1.w + b2.w) / 2; const height = (b1.h + b2.h) / 2; const crossWidth = width * dy; const crossHeight = height * dx; if (Math.abs(dx) <= width && Math.abs(dy) <= height) { if (crossWidth > crossHeight) { return (crossWidth > -crossHeight) ? 'bottom' : 'left'; } return (crossWidth > -crossHeight) ? 'right' : 'top'; } return 'none' }