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Resting contact forces

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I have been toying around with rigid body physics, largely based on oliis examples. I've managed to get basic collisions and collision response working but i'm now having problems with stacks of objects penetrating into each other. I've tried to look around for solutions but not really sure how to advance from here. So any feedback / help would be appreciated. Here is link to demo prog running inside my own framework, if anyone is interested to try. Linky!

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For more advanced contact solving, box2D or chipmunk are your friends.

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