Collision response with plane
- Suppose exact contact: \( (p_i-a)\cdot n=r_i \)
- Collision response = Update velocity
- Split \(v=v_{/\!/}+v_{\perp}\)
-
- - \(v_{\perp} = (v\cdot n)\,n\)
- - \(v_{/\!/}=v-(v\cdot n)n\)
- New velocity
- \(v^{new}=\alpha\; v_{/\!/} - \beta\;v_{\perp} \)
-
- \(\alpha \in [0,1]\) Restitution coefficient in \(//\) direction (friction)
- \(\beta \in [0,1]\) Restitution coefficient in \(\perp\) direction (impact)
