haxelib install p2js

 
import pixi.display.Stage;
import pixi.primitives.Graphics;
import pixi.display.DisplayObjectContainer;
 
import p2.shapes.Circle;
import p2.shapes.Plane;
import p2.objects.Body;
import p2.shapes.Rectangle;
import p2.world.World;
 
class Main {
 
    var _renderer:Dynamic;
    var _stage:Stage;
 
    var _p2World:World;
    var _p2container:DisplayObjectContainer;
    var _p2graphics:Graphics;
    var _boxBody:Body;
 
    var _p2Circle:Graphics;
    var _circleShape:Circle;
    var _p2Sensor:Graphics;
    var _sensorShape:Circle;
    var _circleBody:Body;
    var _sensorBody:Body;
 
    public function new() {
        _stage = new Stage(0x00FF00);
        _renderer = Detector.autoDetectRenderer(800, 600);
        Browser.document.body.appendChild(_renderer.view);
        		
        _p2World = new World({ gravity:[0, 0] });
        
        var boxShape:Rectangle = new Rectangle(2, 1);
        _boxBody = new Body({
            mass: 1,
            position:[0, 2],
            angularVelocity: 1
        });
 
        _boxBody.addShape(boxShape);
        _p2World.addBody(_boxBody);
 
        var planeShape:Plane = new Plane();
        var planeBody:Body = new Body({ position:[0, -1] });
        planeBody.addShape(planeShape);
        _p2World.addBody(planeBody);
 
        var zoom:Int = 100;
 
        _p2container = new DisplayObjectContainer();
        gameStage.addChild(_p2container);
 
        _p2container.position.x = StageProperties.screenWidth / 2;
        _p2container.position.y = StageProperties.screenHeight / 2;
        _p2container.scale.x =  zoom;
        _p2container.scale.y = -zoom;
 
        _p2graphics = new Graphics();
        _p2graphics.beginFill(0xff0000);
        _p2graphics.drawRect(-boxShape.width / 2, -boxShape.height / 2, boxShape.width, boxShape.height);
        _p2container.addChild(_p2graphics);
 
        _circleShape = new Circle(1);
        _circleBody = new Body({ mass: 1 });
        _circleBody.damping = 0;
        _circleBody.addShape(_circleShape);
        _p2World.addBody(_circleBody);
 
        _p2Circle = new Graphics();
        _p2Circle.beginFill(0x003366);
        _p2Circle.drawCircle(0, 0, _circleShape.radius);
        _p2container.addChild(_p2Circle);
        
        Browser.window.requestAnimationFrame(cast animate);
    }
    
    function animate() {
        Browser.window.requestAnimationFrame(cast animate);
        _p2World.step(1/60);
        _p2graphics.position.x = _boxBody.position[0];
        _p2graphics.position.y = _boxBody.position[1];
        _p2graphics.rotation = _boxBody.angle;
        _renderer.render(_stage);
    }
}