I am currently trying to develop a small physics engine for my games. I have created bounding volumes for different rigid bodies. However, I am having problems handling collision resolution, more specifically with determining the direction to apply the impulse to the objects and their changes in velocities.
How do I perform collision resolution for rigid bodies of varying volume? Is there a general solution for resolving collision between all rigid bodies like sphere, AABB or OBB, or do I have to specifically arrive at a solution for each scenario?