The application I have created is a working 2D C++ physics engine that can be implemented into a proper game engine. No third-party physics engine was used to aid the project. It demonstrates a complex simulation containing multiple static and dynamic rigid bodies interacting together, as well as additional bodies such as joints, springs and soft bodies. All bodies are able to be added or removed from the simulation dynamically. The engine includes four body shapes: circle, plane, axis-aligned bounding box (AABB), and oriented bounding box (OBB). Collision detection is performed using the spatial hashing method. The various body shapes are able to resolve collisions using linear forces and angular forces.

LINK Download the release to try out the application.
LINK Documentation outlining improvements that could be made.
LINK Complete UML class diagram that shows relationships and includes all classes.