I''ve been trying to find a way to simulate a rectangle bouncing off of a solid wall for quite some time, with no luck. If you''ve crashed into a building in Grand Theft Auto I or II you know what I''m looking for. I have working code that will apply an impulse to a point on the rectangle and change the velocity and spin correctly. My problem is calculating how much of an impulse to apply when it hits a wall. Its easy when only looking at velocity, but adding spin makes it much more complicated. Any ideas on how to solve this would be greatly appreciated.

Do a google search for "David Baraff rigid body" and you wll find papers describing how to solve inter-penetration forces etc.

I myself am trying to find a simpler way to figure out the force required to make a body rest on the ground with multiple inter-penetrations. ( a car has 4 wheel contacts for example ).

I''ve had no luck so far, the math is way to intensive as I see it for more than a few of RB objects been used in game, along with the rest of the cpu load. Not good if you want chair/lamps... etc all to be RB interactive.

I knew this would happen. The same day I posted, I found an article explaining exactly what I wanted.

http://www.d6.com/users/checker/pdfs/gdmphys3.pdf, in case anyone is interested.

I''ll check out Baraff, too.