Simple non penetration constraint








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In the second row, the same scenario with a different ramp is depicted. Examples Stairs Domino Boxes. More about this in the next section. An impulse vector red , standing orthogonally on the penetrated surface, is applied to the cube's velocity weighted by its mass. This behavior is counter-intuitive, and can be avoided by adding friction constraints. The second impulse blue. same magnitude, opposite direction is applied to the ramp but assuming the ramp has infinite mass, it has no effect. Two examples of how collisions are resolved by computing appropriate constraint impulses that change the linear and angular velocity of the involved bodies. However, without friction, it makes sense. Notes on the Demos The demos may look a bit unnatural because I did not include friction. There was a problem providing the content you requested Please contact us via our support center for more information and provide the reference number below. This leads to a change in its linear and angular velocity. Here, the computed constraint impulse again counteracts penetration, but due to the angle of penetration, the cube now rotates into the opposite direction.

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Description: This behavior is counter-intuitive, and can be avoided by adding friction constraints. However, without friction, it makes sense. There was a problem providing the content you requested Please contact us via our support center for more information and provide the reference number below. An impulse vector red , standing orthogonally on the penetrated surface, is applied to the cube's velocity weighted by its mass. Examples Stairs Domino Boxes. Here, the computed constraint impulse again counteracts penetration, but due to the angle of penetration, the cube now rotates into the opposite direction. More about this in the next section. In the second row, the same scenario with a different ramp is depicted. This leads to a change in its linear and angular velocity. Two examples of how collisions are resolved by computing appropriate constraint impulses that change the linear and angular velocity of the involved bodies. The second impulse blue. same magnitude, opposite direction is applied to the ramp but assuming the ramp has infinite mass, it has no effect. Notes on the Demos The demos may look a bit unnatural because I did not include friction.
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