Kind of similar to what @griffpatch did (code is mine tho) It's a bit laggy, but it should be pretty accurate. Idea from: https://www.emanueleferonato.com/2020/02/03/pixel-based-physics-engine-with-html5-example-powered-by-phaser/ Impulse formula: https://code.tutsplus.com/how-to-create-a-custom-2d-physics-engine-oriented-rigid-bodies--gamedev-8032t @Ricky-Jan for help with angular velocity!
