In my amateur 2D rigid body physics engine for a game I react on collisions between two bodies with an impulse j (formula 11) as explained here. To calculate this impulse I need one contact point P ...
I'm developing a 3D physics engine (I know, I should use one of the many good existing physics libraries, however my collision detection is optimised for objects with highly ordered highly complex ...
In my 2D physics engine, I can detect AABB vs AABB collisions, and resolve them by finding the shortest penetration vector and adding it to the AABB's position. Doing this "pushes" the first AABB ...
Previously, I struggle with the sequential impulse-based method I developed. Thanks to jedediah referring me to this paper, I managed to rebuild the codes and implement the simultaneous impulse based ...