Following the lecture "Game Physics" at Technical University of Munich (WS17/18), I wanted to implement an actual spring system in Unity to compare the different integration methods.
Unity 2019.3
Open the project with Unity, double click the scene "Scenes/Demo" and enter "Play"-mode. Now move the cube in the editor or the sphere in the game preview using the arrow/WASD keys.
The integration method can be changed in the Simulator component.
All integration method implementations are contained in the "Scripts/Integration" folder.
To compare the integrators a bit better, I created a codepen to visualize the performance on a exponential function:
The horizontal axis shows the timesteps, the vertical axis the estimated result of the exponential function. As you can see, Runge-Kutta integration (RK4) ist the most accurate method. This was to be expected since its a fourth-order method, which is the highest order of all tested methods.