Simple non penetration constraint
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Curved Surfaces And Coherence For Non
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Fast penetration depth computation for physically
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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