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Game Physics: Resolution – Constraints & Sequential Impulse | Ming-Lun "Allen" Chou | 周明倫
[latexpage] This post is part of my Game Physics Series. Constraints The resolution phase of a constraints-based physics engine uses the concept of constraints. A free rigid body in 3D has 6 degrees of freedom: 3 positional and 3 rotational; a rigid body in 2D has 3 degrees of freedom: 2 positional and 1 rotational.