P47

A Summary For the Day

• Collision handling involves two steps: collision detection and collision response.

• Collision detection contains two phases: broad-phase culling and narrow-phase test.

• There are two types of collision detection tests: discrete and continuous.

• Similarly, there are discrete and continuous collision responses.

• For continuous collision responses, we must update the state to become collisionfree state. There are two approaches: interior point method and impact zone optimization. Rigid impact zone is also a method, but it’s problematic.

• For discrete collision responses, we allow intersections to stay and hope to remove them in long turn. Cloth-cloth intersections are difficult to handle.

✅ 如果考虑摩擦，通常把摩擦做为后处理，但这样结果不精确。如果同时处理摩擦和碰撞、会很复杂。
✅Impulse方法的碰撞检测通常用SDF．但很多形变体无法使用SDF.
✅Impulse响应方式是离散响应方式，无法处理穿透问题。
✅碰撞问题通常不使用物理方法，因为使用物理方法需要小步长，效率非常低。
✅碰撞开源代码：bullet. physics X

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