Tagged Questions

1
vote
1answer
249 views

How to make a stack stable? Need help for an explicit resting contact scheme (2-dimensional)

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 ...
6
votes
2answers
661 views

How to implement friction in a physics engine based on “Advanced Character Physics”

I have implemented a physics engine based on the concepts in the classic text Advanced Character Physics by Thomas Jakobsen. Friction is only discussed very briefly in the article and Jakobsen himself ...