Game Physics Engine Development, 2nd Edition

15.6 Summary 411

FIGURE 15.6 The problem with sequential contact resolution.

that the sliding will only occur after the player disturbs the stack. If you n eed to build

large stacks of objects that are stable to slight knocks, you can either use one of the

simultaneous resolution approaches in Chapter 20 or use fracture physics, found in

Chapter 17.

15.6 Summary

Resting contacts can be dealt with as if they were tiny little bouncing contacts: the

contact interpenetration is resolved, and the closing velocity is killed by applying a

small impulse.

By reducing the resting forces over the entire duration of a simulation frame into

just an instant of impu ...