Flexible Softbodies in PICO-8

Hello everyone! I've been using PICO-8 for a while now, but this is my first post on the BBS, and I'd like to share some of the shenanigans I'm doing.
About a year ago, I stumbled upon Walaber's video on how he made Jellycar's physics (https://www.youtube.com/watch?v=3OmkehAJoyo&ab_channel=WalaberEntertainment) and I thought it was really cool. I also thought It'd be fun to make a softbody system for myself. So I tried and was able to do some fun things with springs and a bit of collision. I had learned a bit about dot and cross products that year in math classes I took, so it was cool to use the stuff I just learned to make a fun program. Up to this point all the softbodies were just springs connected to each other.

Then, I tried to implement shape matching (where you link the physical polygon to an invisible "frame" that in turn updates its rotation to the physical polygon's) and everything went downhill.

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