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Rigid Body Dynamics: Indetifying Interpenetration

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Hey there, I've been working on rigid body physics on and off lately, and have reached a stage whereby I have implemented resting contact using contact forces (Not sure what this method is called, but I have worked off this article). Now, as far as I am aware, my contact forces work correctly. However, my method of determining weather or not a collision (supports edge - edge and edge - vertex collisions), appears sporadic at best. The way I am doing it is by detecting an intersection, then calculating the distance between the original vertex's position (this is before edge - edge collisions are accounted for, but they're just edge - vertex cases anyway) and the position just after the intersection has occurred. If this value is below some threshold value, then I assume the object is moving slow enough that inter-penetration becomes an issue. Does this seam like a reliable method, in need of some tweaking, or is there a better way to detect these things? Thanks in advance, Liam M.

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