ABSTRACT
Many collision detection systems perform this check for each pair and return a single point of maximum interpenetration if the objects are in contact. That is not what we need. We need to generate all contacts between the pair of objects. There may be any number of such contacts, depending on the shape of the objects touching. Representing the collision with just a single contact works fine for some combinations of objects (like a sphere and the ground plane, for example), but not for others (such as a car and the ground-which wheel do we choose?).
