In the previous post, we have covered a technique to resolve constraint in our physics simulation. Because we are working in the real-time domain, we need to sacrifice accuracy for speed by using an iterative method to resolve our constraints. Sequential Impulse doesn’t give the exact solution for the problems, but the solution it offers is good enough for games where accuracy is not the priority, as long as it

# Physics

January 17, 2018

## Understanding Constraint Solver in Physics Engine

Out of various phases of the physics engine, Constraint Resolution was the hardest for me to understand personally. I need to read many different papers and articles to fully understand how constraint resolution works. Therefore, I decided to write this article to help me understand it more easily in the future if, for instance, I forget how this works. This article will tackle this problem by giving an example, then