Physics - Collision in 3 dimensions with Friction

first calculate approach velocity of the points on each object that collide:

u_ia = v_ia + w_ia x r_ia
u_ib = v_ib + w_ib x r_ib

approach velocity = u = u_ia - u_ib

normal velocity component = u•n*n
tangential velocity component = u-(u•n*n)

Then in addition to calculating the impulse J_norm to stop or reverse the normal approach velocity we also need to calculate the impulse J_tang to stop the tangential approach velocity

Then calculate the total impulse J which is made up from all of J_norm + some of J_tang depending on the friction coefficient or collision parameter in the paper.

If we want to include sliding or continuous contact then we replace J_tang the
tangential impulse with a continuous tangential force. I think this makes things a lot more complicated as we need to know the contours of both objects along the sliding faces so there is not a formula that we can use if we have complex shapes.

EuclideanSpace

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