Modeling contact for rigid body simulation requires accurate determination of time of contact, contact points, and contact normals. Existing collision detection methods for rigid body simulation can be grouped into one of three categories: convexity-based discrete methods, a posteriori discrete methods, and continuous methods. Our proposed method combines the advantages of all three types: operating on arbitrary geometric representations, running in asymptotic linear time in the number of polyhedral features, having a parameterizable precision (a variation is guaranteed to miss no collisions), and avoiding simplex/simplex tests that are difficult to implement robustly. The algorithm is demonstrated on a pathological example involving both polyhedra and polygon soups.
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