Game Physics Engine Development, 2nd Edition

Index 521

inertia tensors and, 213–219

moment of inertia and, 213–216

for rotation, 211–219, 212f, 217f

torque and, 211–212, 212f

Separating axis test (SAT)

colliding convex polyhedra, 326–327

colliding two boxes, 322–326

contact data generated with, 320–322,

321f

interpenetration shown by, 321f

introduction to, 319–320, 319f

one contact produced by, 294

in 2D physics, 473

Separating contact, 387

Sequential cont act resolution, 410–411,

411f

Shock wave, 453

SIMD hardware, 315

Simple collision algorithms

colliding box and plane, 310–315, 311f,

313f

colliding box and sphere, 315–319, 316f

colliding sphere and plane, 307– 310,

309f

colliding two spheres, 305–307

introduction to, 304–305

Simple collision resolution

closing velocity, 114

coefficient of restitution, 115

collision ...