Original Post
Hi all, I can't see how to work this out, but if I've been playing around with angular torque and momentum etc. But if I have a spinning object, and one of its corners penetrates a surface by a certain amount, how do I work out the amount of rotation to apply to the object to get the rotating object out of collision. For example, the linear component is just the penetration depth times the penetration normal added to the point. So if I assume only one of the objects can move, the object is sort of box like, like a ruler, so its inertia component would just be a box. I'm guessing its along the lines of, the cross product of, collision point offset (p - centre), with the collision normal, multiplied by the world inertia. Thanx for any ideas Ben
