Re: [Algorithms] Algorithm to return point to surface of concave volume

[Nguyen B. <ng...@gm...>]

>> Actually there is such method. Our method doesn't try to merge
>> multiple local contacts into one contact but handle all of them
>> directly. [...]
>
> If would probably be more helpful to the OP if you offered a
> solution beyond an academic nod to "our method".
>

The idea is there : let LCP system decides which contact is actually
active. I dont know how what to offer more. "Our method" was there in
various publications and was implemented in dvc2D which you can get
all information from here:
Here is our website : http://twiki.cs.rpi.edu/twiki/bin/view/RoboticsWeb/WebHome