Assignment:
This week, you are
to redo your springy object simulation, or do an
entirely new configuration, but this time using rigid body
simulation. You should build one or more simple rigid polyhedral
structures,
and have them behave dynamically in a simulated
environment. Continue using the Runga-Kutta fourth-order
integration
scheme, and your collision detection code for
particles and planes. Particle collision detection will not always
work correctly between polyhedra because collisions might be
edge-edge rather than corner-face collisions. However, if you put one
polyhedron within a box, corner-face collisions are the
only ones that will occur. You will, however, have to modify your
collision response code to impart the right impulse to the rigid body
to get the appropriate reflection of the colliding vertex's velocity.