Simulation may be interrupted by a collision.
A collision force should be generated to reflect the momentum of the colliding masses.
Using fixed time step, collision may be detected via interpenetration.
May be necessary to use a
shorter than the frame time and/or back up the simulation after interpenetration to handle collisions reasonably robustly.
collision checks between
Partition space, hierarchies, etc.
Elastic vs inelastic
CS488/688: Introduction to Interactive Computer Graphics
University of Waterloo
Computer Graphics Lab