Unity’s default integration method
Which method(s) does Unity provide for physical integration? RK4? Verlet? Euler?
Since it is a commercial engine the implementation details are
Most physics engines provide results similar to the Symplectic Euler
integrator, or 2nd order Euler. Novodex (Ageia PhysX) provided the
The integration error graph shows it behaving slightly better than the “Euler 2nd order” reference implementation, and significantly better than the “symplectic Euler” reference integrator. So it looks to me like it’s not a 100% off-the-shelf integrator, and has some custom adjustments that may be hard to duplicate without the source code.
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