3
votes
1answer
131 views

Calculating impulse with multiple collision points

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 ...
1
vote
1answer
228 views

How to deal with pushing objects out of collision in a physics engine

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 ...
12
votes
3answers
2k views

Resolving a collision with forces

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 ...
1
vote
1answer
385 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 ...