I've created some videos while running Candy Wrapper demos. They're hosted on YouTube. Hopefully, there will be more in the future.
Demonstrates the use of revolute joints. Each ball is attached to a single joint, the strings are only for visualization purpouses.
You will probably notice how quickly numerical errors accumulate and the middle three balls start bouncing off of each other.
The same effect can be achieved with two distance joints per ball as the strings suggest, but that way the simulation's less stable.
The visual results of this demo are not very exciting to look at. Just random cubes falling on the ground.
Study its (very simple) source code to learn the steps you need to take to run a basic physics simulation with Candy Wrapper.