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Resting bodies

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... So I have reached step 1 in designing a 2D rigid body physics enginge, and have Convex Polygons, OBBs and spheres doing somewhat correct collisions at a reasonable speed. Now, for step two, I have planned to bring into account objects coming to rest temporarily on other objects, or "sliding" across the surface of other objects. As it is now, objects that should be resting on other objects will just cause an infinite chain of collisions checks in a very short timeframe. Anyone have any resources, articles, names of researchers or just general tips on this? I was also looking into compound objects, and thought that I'd maybe combine the two practices somehow. This since, if you consider a "resting" object as having a temporary connection to the object it's resting on, the only real difference is the strength of the connections between the objects in question. As such, any help on kinetic links, connections and strains would also be greatly appreciated. Thanks!

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