Stacking

So I decided to upload a small demo video of my stacking. Due to using the trial version of fraps, this was limited to 30 seconds.




This was a stack of a 2 x 20 x 2 tower of blocks. There are a number of things I'd like to point out in the video so that no one gets confused, most of which are related to debug drawing. The most notable one, the color change of the blocks represent them being put to sleep. Shortly after I turned wire-frame on, I turned of the ability for objects to sleep so that other debug info could be shown better. The small points and lines being drawn represent the collision point and normal. Combined with the ability to pause and step through the simulation, which I did not show here, these debug drawing features make it much easier to observe a whole scene and determine if anything is amiss.

Just a small note on how I am doing the physics in this simulation. First, collision detection is done using Separating Axis Theorem. Then collision response is done using impulses with a modified version of the resolution scheme mentioned in the paper "Non-convex Rigid Bodies with Stacking" which switches up the order of integration and resolution then follows up with a shock-step. The order to resolve and sleep objects is done with the aid of a contact graph which topologically sorts the collisions along the y-axis. In the near future I will put up a small videoof a pressure model soft body.