Author Archives: Allen Chou

This post is part of my Game Physics Series. Dynamic AABB tree is a type of broadphase that is borderless, meaning that it does not impose a strict border limit as some other broadphases do, such as explicit grid and … Continue reading →

This post is part of my Game Physics Series. Besides using slops, “warm starting” is also a very common technique used to make physics engines more stable. Warm starting works particularly well when your game has high “frame coherence”, which … Continue reading →

This post is part of my Game Physics Series. I previously hinted that there will be stability issues as I covered collision resolution. It is because the logic for collision resolution presented earlier is sort of “naive” in a sense … Continue reading →

This post is part of my Game Physics Series. Contact constraints are amongst the most important constraints for a physics engine, because you would want to resolve collision in most scenarios. And if not done properly, your rigid bodies can … Continue reading →

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 … Continue reading →

This post is part of my Game Physics Series. Contact Data GJK tells us whether two colliders are colliding and nothing more. In order to correctly resolve collision, we would need to generate contacts. As mentioned earlier, contacts are approximation … Continue reading →

This post is part of my Game Physics Series. As mentioned earlier, all collision detection algorithms are essentially determining if the CSO of two shapes contains the origin. The collision detection I am going to introduce to you here, the … Continue reading →

This post is part of my Game Physics Series. Configuration Space Object (CSO), a.k.a. Minkowski Difference or Minkowski Configuration Object, is a very important concept for collision detection. In addition to CSO, support function is an equally important mathematical concept … Continue reading →