Re: [Algorithms] Kinematic Collision

[<Pau...@sc...>]

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> AFAIK it is still the case, yes. The rationale was that:
> - when used correctly (again, see small game above) penetration never
> happens
> - running an initial overlap check "just in case" seemed too costly

In our projects we find that its essential to be able to recover from 
penetration, and we weren't able to rule it out... :/

It can happen for many reasons; our constraint solver runs for a fixed 
number of iterations, so it can terminate without fully resolving - stacks 
of objects will sink into each other over time, and the penetration vector 
is essential for resolving this. Also we have lots of motored joints like 
pistons etc which can force objects through each other.

If you code the collision routines carefully, you should be able to pull 
out the penetration info at the same time as finding the TOI...

Cheers, Paul.
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