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We require a high quality engine for both collision detection and dynamics animation. In the current version we utilized the open source Bullet engine which is quite good. It should be straightfoward to plug in alternate engines, although we haven't done so. The input to the engine is the initial world transform of the body, its collision geometry, mass, friction, restitution, initial velocity, initial spin, initial orientation, initial position, and center of mass. For each body, the output of the engine per frame is a new world space transform, and a set of contact points indicating its collisions with other bodies. Our current system operates uniformly on 2d and 3d objects.