Game Development Reference
impulseContact.z *= friction * impulseContact.x;
The impulse is then applied in exactly the same way as for the non-friction case.
F RICTION AND S EQUENTIAL C ONTACT
With the modifications in this chapter our physics engine has taken a huge leap
forward. It is now capable of modeling rigid bodies with all kinds of contacts and
There are still some lingering stability issues that we can look at and a huge in-
crease in performance we can expect. We'll examine both of these in the next chapter.
At this stage we can also see the main unavoidable limitation of the micro-
collision approach to physics. And no amount of tweaking will make this go away
Figure 15.6 shows a typical situation in which two boxes are in contact with each
other. Neither of the boxes is moving, and all contacts have very high friction (let's
say it is infinite: the static friction can never be overcome).
F IGURE 15.6
The problem with sequential contact resolution.