added function World.integrateBody
added method Body.prototype.setZeroForce and function World.runNarrowphase
body.shapeOffsets and .shapeAngles are may now only be vectors and numbers, not null/undefined as they could be before
added function SAP1DBroadphase.checkBounds
added methods .addConstraintVelocity and .resetConstraintVelocity to Body
added GSSolver.iterateEquation
removed some old code
toolbox for Demo
removed test example