[Algorithms] Contact modeling (was: N-body processing)

[Pierre T. <p.t...@wa...>]

> determining the contact manifold, which can be two points,  point and
edge,
> edge and edge, point and face or face and face. The contact manifold is
then
> used to determine the collision response.

I didn't notice it, but you mentioned the face/face contact manifold, which
I do not detect. I only handle the four others, two of whom as degenerate
cases. To make things clear I followed the Baraff's way, including how he
deals with colliding & resting contacts.

How do you detect the face/face case? It is useful? I guess it might be
useful to handle the simple case of the cube falling vertically on the
table...

Pierre