rigidbody, forces and collision testing

PhysicsEngine/Physics/Constraints/Constraint.cs

@@ -0,0 +1,24 @@
+using System.Numerics;
+
+namespace PhysicsEngine
+{
+    public abstract class Constraint
+    {
+        public Body BodyA;
+        public Body BodyB;
+        public Vector2 LocalAnchorA;
+        public Vector2 LocalAnchorB;
+
+        public Vector2 GetWorldAnchorA()
+        {
+            return BodyA.Position + LocalAnchorA;
+        }
+
+        public Vector2 GetWorldAnchorB()
+        {
+            return BodyB.Position + LocalAnchorB;
+        }
+
+        public abstract void Solve();
+    }
+}