Original Post
HI, i got a little problem i''m writing a physics engine, i use impulsive integration, but when i for example drop a sphere on the ''ground'' an impulse is computed preventing the same sphere to ''tunnel'' trhough the ground, now it works fine , but since there is a little jittering beetween the table and the sphere , the impulse never goies to zero, this is a good solution, ...but , the angular moment since the impulse is always present is incorrect, there is a residual rotation making the sphere rotote on the plane in an irrealistic manner, now i wnat to ask to someone who did this work before than me how do you manage resting and dynamic situations ? do you place a flag ? dividing the two conditions brings new problems, in particular , storing information about which plaen the object rests on and suc, is there a better method for implementing such kind of situations ? i use verlet integration anyway