References

Liam edited this page Jul 4, 2016 · 1 revision

How it works

The engine uses the following techniques:

  • Time-corrected position Verlet integrator
  • Adaptive grid broad-phase detection
  • AABB mid-phase detection
  • SAT narrow-phase detection
  • Iterative sequential impulse solver and position solver
  • Resting collisions using resting constraints (Erin Catto, GDC08)
  • Temporal coherence impulse caching and warming
  • Collision pairs, contacts and impulses maintained by a pair manager
  • Approximate Coulomb friction model using friction constraints
  • Constraints solved with the Gauss-Siedel method
  • Fixed or variable time step
  • A basic sleeping strategy

For more information see the post on Game physics for beginners.

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