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Newton SDK

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I just put newton into my graphics engine, but when objects collide it doesn't calculate any collision, it just sits there and gravity eventually pushes it through the object. Am I supposed to calculate all the collision stuff? I thought Newton would do that, but it's not. How should I handle collisions with Newton?

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I more or less followed the tutorials. It works, except when it collides it just sort of sticks there and slowly falls through the floor. I can post the code if it's needed, it's mostly from the tutorials.

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