Just finished rewriting the basic collision response demo to make use of a new dynamic collision model. Originally it determined whether collision is occurring in the current frame, pushed the objects apart, and then reset the velocities for the next frame. Now it determines whether a collision will occur interframe, advances to that timestep and computes the collision response, and then continues movement for the remainder of the frame. Took a bit to deal with the vagaries of floating point, but it appears to work. I’ll write up a bit more detail on this tomorrow; it’s late.
Tomorrow I work on slides and explore the world of resting forces. Also known as “fun with LCP.”