Box2D-Lite Walkthrough in Javascript: Softening constraints

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

CodePen

Useful References

http://ode.org/ode-latest-userguide.html#sec_3_8_0

https://box2d.org/files/ErinCatto_SoftConstraints_GDC2011.pdf

https://allenchou.net/2015/04/game-math-precise-control-over-numeric-springing/

https://www.youtube.com/watch?v=UUt4Lko2wFI

https://en.wikipedia.org/wiki/Reduced_mass