Someone pointed out to me my library made it to HN, thanks to everyone for taking interest, it brightened my day to see some of you starred the library as this has been completely unexpected, I greatly appreciate it (trust me, I don't have much other joy in life than seeing someone like my projects). To be honest, I am actually not as satisfied with TPE as I've been with some of my other projects, mainly because this was really my first 3D physics engine and I lack a deep knowledge of this field, here and there I used a few not so elegant hacks, but I see TPE as a successful proof of concept that tells me a real expert on physics simulation could make a truly amazing library in this style, and it wouldn't even take as much effort as it took me. I certainly hope this might inspire someone to try to prove that "this can be done better" :) I would definitely love to see more people jump on the KISS train and make a library like this in whatever their field of expertise is (chess engine, machine learning, image processing, ...) -- there is an abundance of mainstream (big/bloated) libraries for basically everything nowadays, but almost no "KISS" alternatives to them, there are tons of opportunities for making something really nice here. And yes, I also have controversial opinions that I know look very scary, I wouldn't really like to discuss that here because that could kill the thread and it's hugely offtopic, let me just assure you I firmly believe in nonviolence, peace and I want to help all humans equally, be it with my programming or otherwise. For any questions I can be reached via email, I'll be glad to talk about anything. Once again thank you for your nice feedback.