   Good resources for physical collison detection
  I''m implementing collison detection and response now I have physics working. I want to do it all using forces & impulses not ''hacks'' if at all possible.There are 2 areas I want to focus on: 1)Things sliding along the ground ie friction, normal forces etc - so a body resting o the ground stays still rather than wobbling up and down.2)Things hitting (ie penetrating) each other or the ground, using impulses to sort it out.Can people suggest decent, maths based resources on the web please. This is for a physics engine not just to solve a simple game physics problem.thanks 
  if you are willing to go into great lengths to build a good physics system, you might want to take a look at Dave Eberly's Game Physics book. Also, David Baraff has a very thourough set of papers on the subject. Dave Eberly's website is also packed with info.there is also ODE, and Tokamak, good physics engines.    [edited by - oliii on February 11, 2004 3:33:21 PM]