Glad you guys like it.
We also suffer startup stutters, slightly more noticeable with Firefox than with Chrome. Our physics simulation can be configured to clamp the time spent on simulation to some degree, which helps with initial frames, but the "physics_benchmark" example in particular adds objects to the world one by one to avoid as much as possible the startup stutters. On other demos we do run a hidden full simulation step to smooth out the first rendering frames.
We wrote our 2D and 3D physics solutions directly in JavaScript, using typed arrays everywhere and with aggressive objects reuse to reduce pressure on the memory manager. The 2D solution is fully featured, for the 3D version we still need to implement some of the more complex constraints and we still need to write specific shape-to-shape collision functions to optimize the more common cases.
David Galeano
Turbulenz Limited