Well, it’s a pretty huge topic. I recommend taking a look at the SIGGRAPH course notes on contact and friction simulation: https://siggraphcontact.github.io/ h

Well, it’s a pretty huge topic. I recommend taking a look at the SIGGRAPH course notes on contact and friction simulation: https://siggraphcontact.github.io/ https://siggraphcontact.github.io/ Also, look at some recent papers on SIGGRAPH and SCA, such as: - https://matthias-research.github.io/pages/publications/PBDBodies.pdf https://matthias-research.github.io/pages/publications/PBDBo... - https://mmacklin.com/primaldual.pdf https://mmacklin.com/primaldual.pdf - https://arxiv.org/pdf/2201.10022.pdf https://arxiv.org/pdf/2201.10022.pdf Note that these are all cutting-edge stuff, and most physics simulations in production still use more traditional methods (which you can learn from Box2D’s source code and related GDC slides). The links: - https://github.com/erincatto/box2d https://github.com/erincatto/box2d - https://box2d.org/publications/ https://box2d.org/publications/