Peter Popov wrote:
> 
> [...]
> Using penalty functions (as you do) has the advantage that it is
> generally simpler to implement and faster to compute. The problem is
> that due to the infinite gradient of the penalty function (the
> function being 0 outside the object and non-zero inside), it is
> impossible to use higher-order integration methods.

I'm not totally sure about the terminology but i always thought the force
based apprach is what's commonly called penalty methods.  What Rune uses
is
the classical impact rules based 'reflecting the velocity at the surface'.

Christoph

-- 
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