I discussed this with Jan Paul van Waveren, idSoftware and Doom3 physics programmer. He mentions that he prevents objects from penetration all the time:Stephane Redon wrote: Yes, plus using continuous collision detection typically reduces the number of contact points greatly, because you maintain the objects slightly separated, and because at most 6 contacts points can be independent between any two objects (since there are six degrees of relative freedom)
- use ccd to calculate contact points
- build & solve contact constraints, apply impulses
- safely update transform of objects using ccd, one at a time
This description is not complete, perhaps Jan Paul will publish some paper about his approach.
Stephane, do you 100% guarantee non-interpenetration physics using your approach with ccd, given your external tolerances ?