The operations used for stepping a physics simulation are most commonly:
- Integrate velocity and position
- Collision detection and resolution
- Contact resolution (in advanced cases)
A while ago I came across this paper from Stanford that proposed an alternative scheme, which is as follows:
- Collision detection and resolution
- Integrate velocity
- Contact resolution
- Integrate position
It's intriguing because it allows for robust solutions to the stacking problem. So it got me wondering...
What, if any, alternative schemes are available, either simple or complex? What are their benefits, drawbacks, and performance considerations?