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Check-out Chipmunk physics engine:





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  svn checkout http://chipmunk-physics.googlecode.com/svn/tags/Chipmunk-5.2.0 chipmunk





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(5.2.0 is used instead of trunk, because this example is known to work with





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that version and not necessarily any future versions).





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To improve the performance on embedded platform, force the use of 'float' instead of 'double':





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  patch chipmunk/include/chipmunk/chipmunk_types.h force-float.patch