Lesson 06
Hình bao AABB & circle, overlap test, circle-AABB (clamp), point-in-shape, penetration depth.
Lesson 07
Separating Axis Theorem, chiếu lên trục pháp tuyến, MTV (Minimum Translation Vector).
Lesson 08
Broad vs narrow phase, spatial hash grid, quadtree, sweep and prune — thoát O(n²).
Lesson 09
Bảo toàn động lượng, restitution, impulse resolution 2D, positional correction, vật tĩnh.
Lesson 10
Ma sát tiếp tuyến (Coulomb), resting contact, jitter, positional correction, stacking, sleeping.