Real-Time Physics Simulation Forum

http://box2d.org/files/GDC2011/GDC2011_Catto_Erin_Soft_Constraints.pdf Thanks, Drik The Paper <<Soft Constraints>> by Erin is very helpful to me. I also find the entire derivation about softness post by Erin https://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=1354 v2new = v2damaged + in...

I read K.Erlenben book <<Stable,Robust And Verstile>> Chapter 6 to learn the PGS in Bullet https://pic3.zhimg.com/v2-5d4c969b50737691ca85e915627f154a_b.png http://bulletphysics.org/Bullet/phpBB3/download/file.php?id=1348 When I see the src code in Bullet, I think the Result of the Equation is the Co...

The Expanding Polytope Algorithm (EPA) is by Gino van den Bergen. See "Proximity Queries and Penetration Depth Computation on 3D Game Objects" link/pdf and his book from this page: http://www.dtecta.com/publications Nathan implement this, as well as some improvements. Thanks a lot ,Erwin

Nathanael said the algorithm is incremental convex hull, but I can't find paper btGjkEpa2.cpp: EPA::Evaluate() m_status = eStatus::Valid; for (; iterations < EPA_MAX_ITERATIONS; ++iterations) { if (m_nextsv < EPA_MAX_VERTICES) { sHorizon horizon; sSV* w = &m_sv_store[m_nextsv++]; bool valid = tr...

After compute the Jacobian of contact point constraint, I compute the Jacobian of friction ,I have to compute the friction Direction Dk whick store in cp.m_lateralFrictionDir1. But it's not clear about why compute this way below btVector3 tbRigidBody::getVelocityInLocalPoint(const btVector3& rel...

They wrote dBoxBox like that because it made sense to them at the time to write it like that. They probably derive a lot of the math on paper and then translated it into code. If you want to know what c1 - k1 - k3 is then you need to go through the math and draw pictures of what everything is. You ...

In the func dBoxBox2 ,after SAT it's clear to get the collision type which store in the variable "code" -> 1,2,3 / 4,5,6 /9-15 But then I find it's still not clear about the implementation detail of contact point computing,I read the paper of Erwin GDC10_Contact.pdf The paper just give us ...

http://gamedev.stackexchange.com/questi ... -with-sat/

SAT in 3D / compute contact point implementation detail

jheanley wrote:This should be a reasonable start, this is OBB vs OBB collisions. (OBB is Oriented Bounding Box, the other type is AABB or axis aligned bounding box which is somewhat cheaper to compute)

http://www.randygaul.net/2014/05/22/der ... ction-sat/

this article is very helpful , Thanks

when I read the btBoxBoxCollisionAlgorithm source code to compute BoxBox contact points ,I find it's hard to understand.
so which book or paper should I refer to,I want to know the principle first