Collisions only pairs?

[Peter_jones]

Can Bullet handle more than one contact at the same time? Is it an iterative process? Or does it handle collisions in pairs?

Thanks,
Peter

[dphil]

It handles them in pairs. From my understanding, it adds together forces from all interacting pairs, and then applies those forces.

[Peter_jones]

It handles them in pairs. From my understanding, it adds together forces from all interacting pairs, and then applies those forces.

Thank you. I have some futher questions. What is the equations for bullet to compute impulses of multiple contact points? What is the order for bullet to deal with multiple contact points?

[dphil]

I am not sure about the specific equations, but I don't think there is a defined order, as it shouldn't matter. I believe all forces on a given object are simply added together for one time step, so A+B+C = C+B+A = B+A+C = ...etc.