I'm especially impressed by the time scaling. Back when I fiddled around with physics collision/physics libraries years ago (ODE), have a fixed timestep was a fundamental design decision and changing that led to weird and unpredictable behaviour.
Things have come quite a long way :)
Edit: still has problems with squishiness of stacked solid objects though :\
Things have come quite a long way :)
Edit: still has problems with squishiness of stacked solid objects though :\