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rigidbody, contact and joint

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Thanks in advance. I've implemented a very very simple rigidbody simulator. It has collision detection routines with convex polyhedra so that, even though it's not fast, I can create a very fundamental physics engine. But, it's not enough to be called physics engine. At first, I think I need routines which treat resting contact or contact resolution with stacking. In addition, I also need rigidbody deactivation-activation routines. With those, I think it's possible to create a simple physics engine. I've tried a little, but I recognized it's not easy to do. Of course, I'm studying about it, but, knowing what must I do or what must I do it with is harder than doing what I need. I may need routines which treat joints and contraints to create ragdolls, multibodies or car simulation. I just used a some tricky method, but it was not good. All I want to say is that give me some advices or tell me documents which can help me to implement it. Sources are also good. Please tell me how can I get there.

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You might find this useful:

http://www.gphysics.com/files/IterativeDynamics.pdf

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Oh, thanks a lot. It's like rain in a desert.
I'm starting to read it. If you know another one, please let me know.

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Yes, there is the paper by Baltman and Rick. Used to do ragdoll and bike phyiscs for a dirtbike game.

http://www.gdconf.com/archives/2004/
http://www.gdconf.com/archives/2004/baltman_rick.pdf

It's a totally different take on things mind you. Related to the verlet particle systems.

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