David Buck wrote:
> 
> [...]
> The hardest problem is the continuous contact case.  You have to allow two rigid
> bodies to slide along each other with friction (ideally) yet not
> inter-penetrate.  I've read papers on this and I think I sort of "get it", but
> implementing it correctly is a different matter.

I think you usually approximate the friction characteristic (with has a
jump when the relative speed is zero) with a differentiable function.  

Christoph

-- 
Christoph Hormann <chr### [at] gmxde>
IsoWood include, radiosity tutorial, TransSkin and other 
things on: http://www.schunter.etc.tu-bs.de/~chris/

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