Game Physics Engine Development, 2nd Edition

142 Chapter 7 Hard Constraints

The code always generates two contacts, which should be added to the list returned

by the collision detector and passed to the contact resolver.

7.5 Summary

We’ve now built a set of physics code that can connect particles using both hard con-

straints such as rods and cables and elastic constraints such as springs and bungees.

Rods and cables behave similarly to collisions between separate objects. Cables

can cause particles joined together to bounce to ward one another, in the same way

that particles bounce off one another when they collide. In the same way, rods cause

connected particles to stay togther, moving with