todo.txt

-collision resolution
    -modify GJK to return penetration depth using EPA
        -return as vector normal to the collision with magnitude = pen. depth
    -non-penetration constraint
        -takes two transforms and the normal vector from a collision
    -new physics/collision steps
        -compute all external forces (done during ScriptRunner update)
        -apply the forces and determine the tentative resulting velocities, using basic kinematics (done in PhysicsSystem update, but not done tentatively yet)
        -detect collisions, store information somewhere
        -find actual velocities using sequential impulses
            -formulas to apply to each collision are in the blog post
            -formula accumulates impulse each iteration
        -Apply the actual velocities and simulate the resulting motion.
    -will probably need to optimize here
        -sleeping rigidbodies
        -warm start
    -keep track of collision information efficiently
    -figure out when to execute collision events
-input
    +keyboard
    +mouse
    -controller
    -at low frame rates, the polling rate should still be high (approx 120 hz is fine). currently, polling only happens once per frame when frame takes time comparable to target. so, put polling on separate thread which writes data, update thread only reads data
-figure out how namespaces work
-put stuff in namespaces so that the developer doesn't have to worry about name clashes for game object types
-art
    -support spritesheets
    -support animations
    -sound
-child transforms / constraints
-script execution order
    -sort scripts by execution order on start / update
    -figure out when to call collision events
-enforce some hygiene on object/scene files
    -objects cannot contain scenes
    -scenes can only contain objects
    -how to specify transform constraints in object files
-state machines, tweening, other useful shit