Raycasting existed in my engine since week 2, but today I finally used it to add a debug spring constraint between the mouse and clicked rigidbodies.
More importantly, I’ve re-written my Projected Gauss Seidel MLCP solver a couple times now, and I’m finally getting kind of close to something I like. My goal is to have a constraint system where each constraint can house multiple rows in the Jacobian (in other words, a “constraint” can remove more than one degree of freedom).
Once that’s all squared away I want to rewrite my Raycaster using Gino’s GJK based algorithm. Currently I’m doing a per-face thing which works, but Gino’s method would be faster for more complicated geometry and more flexible (smooth shapes!).
In the video above, friction is disabled, but there is a slight damping force. Also, the little white dots which appear along the rays indicate interference with the cube’s broad-phase AABB tree.