Question regarding impulse based collisions

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Question regarding impulse based collisions #15

Closed luohwu closed 3 years ago

luohwu commented 3 years ago

Hi Dongho

For updating the angular velocity, in the following equation, we considered an additional torque (-w * Iw) due to the rotation of the object itself.

However, in the following equation, we considered only the external torque. So, I am confused when should we do in the first way and when in the second way.

eastskykang commented 3 years ago

Hey,

please update velocity with external F, t (tau) as well as w x I w first and then update it with impulse. so you can use w_a instead of w'_a for the w x I w term

luohwu commented 3 years ago

aha I see. Thanks