Hi there,

i implemented a simple 2d physics system based on the sequential impulse method presented by Erin Catto (2006).

In that paper, position corrections are resolved by adding a velocity bias to the velocity constraint impulse.

My initial tests for this system was like falling boxes from the sky, apply gravity, let it stack, slide a bit. Everything was working correctly, boxes stacks, penetration gets resolved and it was looking good.

Now i added a player rigid body which applies linear impulses to let it move/jump etc. and now the entire system fails.

If the player is penetrating a static body, like moving left and get pushed away to the right, it get half-stucked in the static body and will be pushed apart after a few frames - so that it just touches the static body on the right side.

My conclusion is that using velocity bias as position correction is not a good idea for a game after all - therefore i really want to know, what options do i have to solve this issue?

Okay, that looks not that easy at all... and porting some parts of box2d seems to be stupid.

In the last 3 years i learned a ton about physics and all that stuff, but now its too much for me - and i know box2d or other physics engines do this much better.

I give up - i will use jbox2d instead.