FA-87215 / Physics integrator stability / Member archive

Normal impulse clamps the increment instead of the accumulated total · case 05

Warm-started contacts can never reduce their impulse and stacks pop apart.

Member previewVariant 5 · 3 implementations · 8 checks per implementation

Case contract

solve(vn0, vt0, w, mu, iterations, cached, warm): several contact points share one relative normal and tangent velocity with inverse mass w. Warm start each point with warm*cached [jn, jt] and apply it to the velocities. Each iteration visits points in order: friction first (accumulated jt clamped to |jt|<=mu*jn), then normal (accumulated jn clamped >=0). Return [jn list, jt list, vn, vt] rounded to 6.

Why this case matters

Game and robotics physics loops depend on integrator update order, step control and stabilization terms; a wrong decision point turns a stable simulation into drifting or exploding motion.

One recorded failure

Sample boundary fixture

This sample comes from the broken implementation of a controlled reproducer.

Boundary fixture	Actual	Expected	Outcome
case 1	`[[0.0712, 0.556, 0.9448], [0.020719, 0.161796, 0.274937], 2.133004, -0.57062]`	`[[0.0, 0.0, 0.156603], [0.020719, 0.161796, 0.274937], 0.0, -0.57062]`	Failed

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