July 2010
Intermediate to advanced
524 pages
16h 56m
English
Content preview from Game Physics Engine Development, 2nd Edition
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14.3 Resolving Interpenetration 355
Finally, the velocity and rotation changes calculated for each object can b e directly
applied to the velocity and angular velocity of the rigid body, s uch as:
body->velocity += velocityChange;
body->rotation += rotationChange;
14.3 Resolving Interpenetration
We hav ecovered the procedure for representing the change in velocity when a collision
happens. If the objects in our simulation were truly solid, this would be all that is
needed.
Unfortunately, the objects can pass into one another before we detect that a colli-
sion has occurred. The simulation proceeds in time steps, during which no checking
takes place.
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