- euler yt series
- symplectic euler wiki 2
- verlet and variations 1 2 wiki 4 5
- leapfrog yt 2
- midpoint 1 wiki
- RK4 yt wiki principia 4 adaptive step
- FR/PEFRL 1, last pages
- yoshida 1 wiki: like leapfrog but higher order
Box2d: symplectic euler
PhysX: symplectic euler or maybe better?
Bullet: symplectic euler
Source: can choose different methods even per single object, but can't find source (pun indended)