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Cake day: June 9th, 2023

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  • Compute the bounding volumes of the objects during the step. If the bounding volumes intersect, it’s a possible collision.

    You can then use a root finder such as bisection to determine if, and at what position and instant the objects collide. This is slow so you only want to do it for pruned object pairs.

    If gravity varies during the simulation, you would need to use a dynamic time step and the problem is a lot harder.