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Resting in contact [constraint and iteration]

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Hello, i read some paper about resting in contact for rigid body physics.

The way of one paper to resolve this problem is to apply impulse for each contact until all contact verify this equation :

Velocity After Contact = -e * Velocity before Contact.

But in the case of stacking rigid body i imagine the problem.

For example a simulation with ground and 2 bodies.

body2
------- Contact 2
body1
------- Contact 1
ground

1. We apply impulse for body at bottom. (this contact verify the condition above), all is ok.
2. We apply impulses for contact 2 at top. so it will modify the relative velocity from body 1, then the relative contact velocity 1, will invalidate the first condition.

So i dont know if it's the best techniques to resolve resting in contact.

But it has the advantage to be very understable.

Thank you for some tips!



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