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impulses on a rod with multiple contacts

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Hello I am trying to simulate a 3D rod bouncing against walls and the ground. I need it to look reasonably real -but its for a simple game so I dont need it to be super accurate. I find that when I have multiple contacts things go horribly wrong. I have searched a lot sites and some say they have used LCP and baraff's method, and others have applied the impulses sequentially (I don't quite know how). Can anyone recommend the way forward - is LCP/Baraff the only way really? Very confused.

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Sequential impulses are much easier to implement, much easier to debug, and possibly faster.

Also, using a LCP solver for "simultaneous" collisions (not contacts) will result in incorrect behaviour - e.g. for situations like you find in a Newton's Cradle (example here)

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Look at Erin Catto's sequential impulse solver. This is equivalent to solving the the LCP using a Projected Gauss-Seidel (PGS) on the velocity level. The same concepts apply in 3D, so it is relatively straight forward to implement it in your system...

www.gphysics.com

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