Game Development Reference
F IGURE 16.3
A chain of collisions is awakened.
simulation only once they have been collided with. Even then, so we hope, they will
reach another equilibrium position and be sent back to sleep quickly.
M ARGINS OF E RROR FOR P ENETRATION AND V ELOCITY
Another optimization worth making is one that speeds up the penetration and ve-
locity resolution algorithms dramatically. Figure 16.4 shows our now familiar block-