Differences between velocity and position contact constraint

[ngbinh]

0. Initial consition should be valid
1. Integrate ahead
2. Find interpenetrate features
3. Reset to t0 and add those features as potential contact

i had put it in the other form as if we integrate ahead at high speed we could completely skip objects(tunneling). So it seemed safer to start with a higher set of potential contacts and then remove the unuseful ones.

cheers,
Antonio

Yes. You're right. I haven't tried those approaches yet but it maybe useful.
Thanks