🎱 Rigid Collision

Rigid-body collision in Genesis is handled in two distinct phases - first finding which bodies are in contact, then computing the impulses that resolve those contacts. The two pages below describe each phase’s algorithmic content.

• Rigid Collision Detection - broad-phase pruning and narrow-phase contact manifold generation (Sweep & Prune, GJK, MPR, special cases).

• Rigid Collision Resolution - constraint formulation, contact and friction model, joint limits, equality constraints, and the numerical solvers (PCG, Newton-Cholesky).