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Cool thanks! I'll post my second attempt when done - could be a while, as I'm working on loads of other things in the meantime. At the moment it works 'well enough'
Personally I would just do a callback querry for every ingame object. The callback would check for collisions; each collision would map to a different state and/or manipulate a set of data within the object.
Ok so what you're saying is that the resultant movement should be handled by the game objects themselves and the collision engine should just stick to what its name implies - telling the game object whether it is colliding, what it is colliding with, and any related details that may be of use.. is that right?
never mind.. sussed it. Was using Quaternions when I blatantly didn't need to. Ignoring the origin of the cross section (will add back in next) the following works: