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References
Liam edited this page Jul 4, 2016
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How it works
The engine uses the following techniques:
- Time-corrected position Verlet integrator
- Adaptive grid broad-phase detection
- AABB mid-phase detection
- SAT narrow-phase detection
- Iterative sequential impulse solver and position solver
- Resting collisions using resting constraints (Erin Catto, GDC08)
- Temporal coherence impulse caching and warming
- Collision pairs, contacts and impulses maintained by a pair manager
- Approximate Coulomb friction model using friction constraints
- Constraints solved with the Gauss-Siedel method
- Fixed or variable time step
- A basic sleeping strategy
For more information see the post on Game physics for beginners.