Sequential Impulse Solver

Summary

A demonstration showing the features of the Slapped some constraints in my pet project game engine, instead of making a point-mass and spring array cloth simulatoin, I was ... ... to use a direct matrix solver based on LDL matrix decomposition in tandem with a PGS solver (a.k.a. My physics engine bevy_xpbd normally uses Extended Position-Based Dynamics. Today I tried something different! Resolving collisions in a physically accurate way using If you look at my Lemongrab rag doll video, you'll see it suffers from poor constraint observance. Originally I thought this was down ... Stacking pyramic simulation using Simulated The first part of the video uses Discreet Car crash simulated by the latest version of my physics engine. Broadphase collision detection uses AABBs, narrowphase is ... ... dynamic AABB tree Narrow phase collision detection: SAT(Separating Axis Theorem) Collision response: Dynamics are computed using an iterative