A Practical Approach to Collision Handling


This document is meant to serve as a complete, easy to follow guide to creating a realistic collision detection and response system. As I have struggled to create my own Physics engine I have found a large body of work, both on the Internet and in book shops, explaining all aspects of physics simulation. And while these books and papers have been incredibly useful, I had a hard time trying to distill a practical solution from them. One of the major problems for me is simply that I'm not that good at math. It only takes a few Greek symbols for my eyes to glaze over, and when you enter the realm of physics you encounter a whole heck of a lot of Greek symbols. Another problem for me is the scope of the material I have found. Most papers are very concentrated on one small aspect of the problem, and while that is useful, I have yet to find a document that gives a complete, end to end set of instructions for creating a physics engine. This guide is my attempt to fill that gap. It is meant to be read along with existing papers to serve as a sort of road map and explainer of the material. I will strive to use as little math as possible, and explain what I do include in as simple and conversational a way as possible


I've tried to break this all down in a way that will be useful. After this intro I will present a list of what you will need to have on hand to read this guide, and how best to approach it. From there I will cover the problem from as high a level as I can. Finally I will introduce you to my REngine and show you specifically how I solved the problem. What You Need...