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Physics for strategy games

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Hi, I'm trying to implement physics for a strategy game, but I don't know much about physics other than basic techniques (radius, AABB). How does soldier collision work in a game like Total War? Right now, I can move troops in square formations, but collision wise, there is 2 possible cases. either my troops aren't in combat in which case collision is disabled so they can move freely. either they are in combat, in which case collision is enabled, but is very stiff. Units will completely stop moving on collision instead of pushing their way through a crowd. I want colliding soldiers to be able to push each other, but it doesn't need to be very accurate because it must be fast enough to support a vast amount of entities.

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