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DonTzzy

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  1.     http://fivedots.coe.psu.ac.th/Software.coe/241-213/F.Dunn,%20I.Parberry%20-%203D%20Math%20Primer%20for%20Graphics%20and%20Game%20Development.pdf   Page 283
  2. I think you should be solving:   p0 = p0 + v0 ( T ) p1 = p1 + v1 ( T )   T = Dot ( n, p1 - p0 )  /        Dot ( n, v0 - v1 )   where   n = Normalize( p1 - p0 )     instead of    p0 = p0 + v0 ( T0 ) p1 = p1 + v1 ( T1 )   Otherwise, you’re probably looking for a “ray to ray” intersection test.   Also, once you find T, p0 and p1 will be close, but never exact.  32-bits of precision can cause nightmares…
  3.   That sounds right.     You may want to investigate continuous collision detection.  Incorporating speed or velocity should give you a "first time of impact" along the y-axis.
  4.   I think your device is using left-handed coordinates, and your code is using right-handed coordinates (or the other way around.)   So, instead of:     Try:   Quaternion rotation = new Quaternion(X, Y, -Z, W); 
  5.   http://www.geometrictools.com/Documentation/IntersectionTriangleCylinder.pdf
  6.     http://en.wikipedia.org/wiki/Angular_velocity     Where: v = new (or old) linear velocity r = contact point  -  center of gravity  // If you don't have this info, try using r = contact normal w = new angular velocity   (I think the eq is backwards.  Just negate it or reverse the cross product.  Also, you may need a coefficient of restitution.)            
  7. http://wn.com/inverse_kinematics_using_cyclic-coordinate_descent
  8. http://box2d.org
  9. Try Adderall....   You'll own Havok, Physx, Bullet, etc...
  10. http://www.agner.org/optimize/
  11.     http://www.regentsprep.org/Regents/math/algtrig/ATM1/arclengthlesson.htm http://math.tutorvista.com/geometry/arc-length-formula.html
  12.   A video (youtube or whatever) would be best....