To do: * Optimise collision detection - (Quadtrees/Octrees/Hash tables) * Parallel libraries * Simultaneous collision resolution * More geometries (implement boxes at least - need box/box collision detection algorithm) * Look at Yampa - can this be used here? * Shadows in visualiser (perhaps use external library via ffi such as OGRE) * Deal with anchored bodies more efficiently - done - still should handle differently (not using infinite mass) * Optimise everything. Maybe use the parallel arrays. * Friction * Scene Description Language