Post #1945883

@bloody_albatross @csk I'm not sure of the latest and greatest in academic rigid body stacking, but I've used Danny Kaufman's 2008 staggered projections scheme successfully for one paper: https://www.cs.ubc.ca/labs/sensorimotor/projects/sp_sigasia08/KSJP08.pdf Downside is you usually need to start bringing in better LCP or QP solvers.