How does SAT collision detection work?

The Separating Axis Theorem tests all edge normals of both polygons. If any axis separates them there is no collision. The axis with minimum overlap gives the collision normal and penetration depth. This is the same algorithm used in game engines like Box2D and Unity.

What determines if bodies stack or scatter?

Restitution controls energy loss on impact. Low restitution absorbs impact energy so bodies settle quickly. High friction prevents sliding so stacks are stable. Together they determine whether a pile stays put or collapses. Try the Bouncy vs Sticky presets to compare.

Pile Simulator — Rigid Body Stacking

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