Timestep schemes for physics simulations

Posted by ktodisco on Game Development See other posts from Game Development or by ktodisco
Published on 2012-10-24T03:09:51Z Indexed on 2012/10/24 5:28 UTC
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physics

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Performance

The operations used for stepping a physics simulation are most commonly:

Integrate velocity and position
Collision detection and resolution
Contact resolution (in advanced cases)

A while ago I came across this paper from Stanford that proposed an alternative scheme, which is as follows:

Collision detection and resolution
Integrate velocity
Contact resolution
Integrate position

It's intriguing because it allows for robust solutions to the stacking problem. So it got me wondering...

What, if any, alternative schemes are available, either simple or complex? What are their benefits, drawbacks, and performance considerations?

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