Technical issues on simulating impulse and friction in three dimensional rigid body dynamics
Keiji Kawachi, Hiromasa Suzuki, Fuminobu KIMURA · 2002
An algorithm for simulating a simultaneous collision impulse with friction working at multiple collision points between three dimensional rigid bodies is described. The authors also state that lasting collisions at small intervals will occur under some dynamic conditions and cause a decline in the simulation speed, and the method for avoiding this phenomenon is described.