moveif intersecting then resolve intersection using the mtd and collision normal calculate response velocitiesendif
Rotational motion was handled just fine, but I couldn't figure out how to support more than two objects. The problem was, one object's intersection could be resolved, but that resolution would put it inside of another object, that object would put it inside of another object (or even the first one it intersected with) and so on... There was also the problem of keeping track of what time the simulation was currently at inside the timestep.
I then moved on to a dynamic SAT test:
if will intersect then move object to point of intersection calculate response velocitiesendifmove the rest of the way
This had the potential to solve the multiple object problem, as well as the current time problem. However, a rotating object can now "dig" its way through solid objects. This could be fixed by checking for intersection and resolving it with the mtd, but then we are back to the original set of problems.
I have read a lot about both physics and collision detection recently, but unfortunately everything has been a bit vague on how you are supposed to setup the whole system. How do you solve this problem?
I should note that I did find this topic: http://www.gamedev.net/community/forums/topic.asp?topic_id=539913 It was helpful to a certain extent, but it didn't answer my question.