Box2D-Lite Walkthrough in Javascript: Body, World and Unconstrained Dynamics

All my Box2D-Lite posts have been transferred to my new blog site:

Introduction
Different Spaces and Drawing Boxes
Unconstrained Dynamics
Collision Detection
Generating Contact Points
Introduction to Constrained Dynamics
Contact Constraint
Revolute Joint
Friction
Solving Constraints
Softening Constraints
Warm Starting

Sample Code

And here is the sample code. You should see the box falling from the sky. I've added a bit of angular velocity, so it should be rotating as it falls due to gravity. However, there is no collision detection yet so the box will fall straight through the ground and will continue falling in the virtual world forever.