lo-th/Oimo.js

world = new OIMO.World({ 
    timestep: 1/60, 
    iterations: 8, 
    broadphase: 2, // 1 brute force, 2 sweep and prune, 3 volume tree
    worldscale: 1, // scale full world 
    random: true,  // randomize sample
    info: false,   // calculate statistic or not
    gravity: [0,-9.8,0] 
});

var body = world.add({ 
    type:'sphere', // type of shape : sphere, box, cylinder 
    size:[1,1,1], // size of shape
    pos:[0,0,0], // start position in degree
    rot:[0,0,90], // start rotation in degree
    move:true, // dynamic or statique
    density: 1,
    friction: 0.2,
    restitution: 0.2,
    belongsTo: 1, // The bits of the collision groups to which the shape belongs.
    collidesWith: 0xffffffff // The bits of the collision groups with which the shape collides.
});

var body = world.add({ 
    type:'jointHinge', // type of joint : jointDistance, jointHinge, jointPrisme, jointSlide, jointWheel
    body1: "b1", // name or id of attach rigidbody
    body2: "b1" // name or id of attach rigidbody
});


// update world
world.step();

// and copy position and rotation to three mesh
myMesh.position.copy( body.getPosition() );
myMesh.quaternion.copy( body.getQuaternion() );