Basic collision simulation

Some basic collision detection only for circles and convex polygons and resolution that includes:

• calculating restitution reaction
• calculating friction forces
• rotational reaction
  Aka the basics of rigidbody collision simulation

Stress test:

Used techniques:

• narrow/broadphase division
• SAT to detect polygon overlap
• point to line distance to calculate circle-polygon collision
• explicit euler integration
• collision resolution using restition and friction
• dormant objects (non moving objects) are skipped for better performance

Editor usage:

note that yellow color means, that the object is sleeping and won't be considered during collision detection

rendering is done using SFML, GUI is done using imgui