[Algorithms] collision detection problem

[alex h. <aha...@ho...>]

Is there literature on net somewhere which describe an algorithm for box-box 
collision which returns all the contact points? I am implement David 
Baraff's contact force method but I am stuck with the collision detection. 
Does anyone here know how to get all the contact point for box-box collision 
detection?

BTW I have come across a nice physics site (www.tokamakphysics.com) but 
there is very little information available there beside some cool physics 
demos.

Al.



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