A 3-d Constraint-based multibody physics engine written in Java, aimed at real-time capabilities. The user can setup and simulate physical configurations, by calling API functions to specify geometries, joints, and parameters.

The engine is build around a velocity based complementarity formulation, which is solved with a simple NCP solver. Friction is modeled using a simple approximation of the Coloumb law of friction. These techniques are state of the art and widely used in other engines such as ODE and Bullet.