Real-Time Physics Simulation Forum

After further tinkering, I've found that this only applies for sphere-sphere collisions. If we change our smaller object to a cube/box, then this problem doesn't arise. I've confirmed this with both my own implementation and bullet: a box under force of gravity will remain stationary on a rotating s...

I have written a basic collision detection/resolution system using constraints and impulse solving, and I think I have reached a point where it starts to break down. In my sandbox, I have sphere's being acted upon by gravity, and my system works totally fine; smaller spheres will remain on the surfa...