This is excellent. Also check out the speculative contacts post: http://www.wildbunny.co.uk/blog/2011/03/25/speculative-contacts-an-continuous-collision-engine

This is excellent. Also check out the speculative contacts post: http://www.wildbunny.co.uk/blog/2011/03/25/speculative-contacts-an-continuous-collision-engine-approach-part-1/ http://www.wildbunny.co.uk/blog/2011/03/25/speculative-conta... Even if your physics algorithms are wholly fake, you need quality contact resolution, or strange behavior will appear in collision responses, since any collision response is predicated on having correct contact information. (The consequence of bad contact quality, seen in lesser physics engines, is major errors where shapes can "squeeze through" other shapes or jitter against each other, gaining energy and eventually exploding.)