Game Development Reference
In-Depth Information
impulseContact.z *= friction * impulseContact.x;
}
The impulse is then applied in exactly the same way as for the non-friction case.
15.5
F RICTION AND S EQUENTIAL C ONTACT
R ESOLUTION
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
isotropic friction.
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
completely.
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.
Search Nedrilad ::




Custom Search