- Contact block solver for improved stacking.
- Simplified contact position solver.
- Predictive contact points for polygons. This might have some issues with restitution.
Check out the vertical stack and pyramid demos. This is a bit slower, but the stability is much higher, so you might be able to increase the time step and/or reduce the iteration count.
Thanks to Dirk Gregorius who collaborated with me on this tech for Box2D_Lite back in 01/07. Hey, I couldn't give you guys all the good stuff at once.