I am german and I was very lazy in English. So my language skills are
not very good... I hope you are able to understand me^^
I implement my first 2D Physics Engine. The Collision Detection with the SAT is no problem..
The main problem is the collision response. I implement the collision response with
springs ("interpenetration-method") using an RK4 integrator.
I read the articles on http://www.gaffer.org and I know the tutorials by Chris Hecker too.
The tutorials by Witkin/Baraffs are very complex for me..
My problem is, that a force effect of one or more forces changes the axis of rotation..
and I don't know how to calculate its position?!
The other question is how to calculate the resulting force and torque.
Yes I could add all forces and torques.. But in this case I can't just add the torques(?!):
I guess.. the axis of rotation is anywhere between the points of application of
force1 and force2. And the torque results by the pair of forces (F1 and F2) ?!
So I'm a bit confused
Thanks!
Gorgon