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Re:Ncollide – 2D and 3D collision detection library by tricolon on Friday May 06, 2016 @02:24PM (#11645720)
> the point on a capsule closest to a plane will always get closer to the plane, unless the capsule is moving away

What if the capsule is spinning like a boomerang while moving toward the plane?

Re:Ncollide – 2D and 3D collision detection library by webkike on Friday May 06, 2016 @02:30PM (#11645753)
For real time collision detection it is sufficient to rotate an object after you have applied linear motion and collision. If you want the rotation to be more accurate you have to divide the timestep.