Re: [Algorithms] Kinematic Collision

[Johan G. <spi...@gm...>]

How can you be sure that interpenetration never occurs then? Floating 
point errors seems to produce small but very relevant
problems for me. As an example, when simply dropping a capsule to the 
floor using the 'inner skin' method without bias the
solved position right before penetration should be 0.0 but the 
calculations will very often produce a number such as -2e-06,
so in my world creating 'a perfectly stable' solver doesn't exist.

Why is using a bias considered a 'hack', isn't it just to avoid this 
kind of problems?

I also run with a bounce of 0, meaning I never apply a position vector 
away from the contact, maybe its not legal to have it
zero?

The code is not very long and if some extremely helpful soul with a 
better math/physics background then me would give it
a look I'd be in heaven.