Phyz is a work-in-progress physics engine for 2D games, written in Zig. Goals are simplicity, speed and ease of use, in that order.

• GJK algorithm
• Continuous collision detection
  • Dynamic-Static
  • Dynamic-Dynamic
• Fully customizable collision resolution
• Broad phase
• Queries
  • Nearest object
  • Raycast
  • Objects in shape
• Handle intersecting colliders
• Collision masking
• Temporary collider disable flag
• Collider deletion
• More interesting actuators
  • Forcefields/magnetism
  • Constraints
• General purpose resolver
  • Friction
  • Bounce

To keep the engine simple and fast, a number of things are purposefully not supported:

• Rotation and angular velocity
• Soft bodies
• Non-convex colliders (can be approximated using multiple convex colliders)
• Multiple colliders per object (can be approximated using constraints)

If you need support for these things, I recommend using a more complex physics engine such as Chipmunk2D or Box2D.