2D simulation game using exlusively Lagrangian equations of motion. It's a 2D motocross game similar to X-Moto, ActionSupercross and such. Some stability issues persist but mostly it's good already. I shall compile it soon for Windows: one of the problems is that Windows compilers must periodically be reinstalled, and that's annoying.
Using Lagrangians in games is not a well documented thing, but it allows to achieve exellent results in very little time, soon after a good parametrization of...