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Resolve resting contacts

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Hi,I try to implement rigidbody dynamics while reading the book 'Game Physics Engine Development'.The collisions is well.And now,I am dealing with resting contacts.The problem I met is the boxes are jittering.As the book says,I set the coefficent of restitution to zero when the contact velocity is little.But things still cannot go well(still jitter).I need some advices and help.

Thanks!

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Given that most of us don't have this book, my advice would be:[list=1]
[*]Pick a known simple scenario where it misbehaves.
[*]Put logging in that shows the positions/velocities/forces on the misbehaving objects.
[*]Post a short excerpt of that data here.
[*]Post a short excerpt of the code most relevant to the bad numbers.
[/list]

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This is why this problem is so difficult. As time goes to infinity, the jitter goes to zero. Zero velocity is a bad situation, because you have no normal or tanget vector, and so you cannot calculate friction to stop the motion.

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