Game Physics Engine Development, 2nd Edition

7.3 The Contact Resolver Algorithm 135

iterationsUsed++;

}

}

The number of iterations we use to resolve interpenetrations might not be the

same as the number used in resolving collisions. We could implement the function to

use a different limit in each case. In practice, there is rarely any need to have different

values, as we can pass the same for both. As a simulation gets more complex with

interacting objects, the number of collision iterations needed will increase at roughly

the same rate as the number of interpenetration iterations. In the function above, I’ve

used one iteration limit for both parts.

The recalculation of the closing velocity and