Algodoo

Thanks @epicface129
Errata:
dumping factor　-> damping factor

@Xray
See the video 2:10

@bluebusters22
Yes.

@Xray
I'm so sorry. Your comments make me happy always. Thanks.

@pipin
I'll be back. (at least once a year )

fixed: mass of circle. The "area" property is broken when reload the scene. Hmm...

GRF = dotProduct((f+mg),n)
where
GRF: ground reaction force
f: The force vector applied to hinge(s)
mg: The gravity force vector of circle(s)
n: The Normal vector of the floor

Using hinge property "totImp3" to get force applied to hinge.
totImp3 * Sim.frequency == [fx,fy,torque]
thus
f = (totImp3 * Sim.frequency)([0,1])

See also:
http://www.algodoo.com/forum/viewtopic.php?f=13&t=10984&start=0

Wankel engines are made up of three main parts:
An eccentric shaft,
A Reuleaux triangle, and
An oval-like epitrochoid-shaped parts.

The difference is "which part is fixed."

For the DKM type, the eccentric shaft is fixed.
KKM type has the epitrochoid-shaped parts fixed.
X-mini engines have the Reuleaux triangle fixed.

I was very impressed.
Great work!