So, my game engine's getting further along, slowly but steadily. Gotta build an SAT check into my speculative collision detection, fix the apparently-broken impulse calculations, and then I'll be able to test
the Projected Gauss-Seidel solver, and see what needs to be fixed there.
Frankly, I'm amazed that I'm able to get any of this straight in my mind... Using Projected Gauss-Seidel matrix splitting to solve a linear complementarity problem, generating Lagrange multipliers which I translate into contact forces and apply to a system of two-dimensional rigid bodies... Frankly, I don't like mathematics, so the fact that I have even the foggiest idea of what that means amazes me.
Side note: for anyone who hasn't heard of it, Girl Genius
is a really good comic, even if the title's a bit... plain. Great character development, great plot, interesting world. Starts off a bit jumbled and quick at first, but things fall into place and make sense after a few chapters.