> The solution is to borrow ideas from those who have done it before. I've tried that. Open various libraries, go through the code, work out how/where they per

> The solution is to borrow ideas from those who have done it before. I've tried that. Open various libraries, go through the code, work out how/where they perform the collision response calculations, trace back the vars passed into those calculations to see where their values get calculated, etc, etc ... and clearly I keep missing some key step or other along the way. I'm either misunderstanding the collision normal, or misinterpreting the collision depth, or my understanding of torque is deeply flawed (very possible, that one) ... frustration builds. Then I blame the engine coders for being too clever with their code and try a different library. I'll get there one day. Failure is not a disaster!