Hi,
My impulses are not enough to stop moving objects, they slowly
interpenetrate while there are continuous forces effecting them. This
fact is pretty well discussed in this thread:
http://groups.google.com.tr/group/comp.games.development.programming.algorithms/browse_frm/thread/444a1c8284627504/73e17c96826780c6?lnk=st&q=resting+contact+gjk&rnum=1&hl=tr#73e17c96826780c6cussed
I have changed my imlementation to move objects out of penetration
using just their LINEAR velocity. It works however the objects are not
stable and tremble. I can maybe solve this using collecting impulses
in more than one pass and apply later but before doing that I want to
be sure I am doing right by using just linear velocity, I have tried
to move only contact points and simply added an integration
process(linear and angular) using final linear velocities of contact
points, but it makes the stuation worse when micro collisions are
happening... So Is it right to use linear only solution?
