Real-Time Physics Simulation Forum

Thanks for the tip, Jak. I did figure it out in the end, and it turned out to be just a stupid mistake on my part. I'd sort of cheated and recomputed collision pairs in the velocity solve, but it meant that sometimes I missed a velocity solve, and sometimes I took one when I shouldn't. Now I'm simpl...

Hi, I'm trying to implement a XPBD rigid-body simulation by following this paper: https://matthias-research.github.io/pages/publications/PBDBodies.pdf So far, I've got down the basics of the algorithm and added support for circle and rectangle contact constraints. It works well in the general case, ...