Collision response with plane : position
- In real case (discrete time) no exact contact, but penetration \( (p_i-a)\cdot n_i < r_i \)
- \(\Rightarrow\) Need to compute collision response at contact point.
- Three possibilities
-
- (1) Correct position in projecting on the constaint
-
-
- (+) Simple to implement
- (-) Physically incorrect position
-
- (2) Approximate the correct position
- (3) Go backward in time to find exact instant of collision
-
-
- Continuous Collision Detection
- (+) Physically correct
- (-) Computationally heavy (binary search, etc.)
