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 contact generation. Two objects that are colliding can have more than one point of contact between them. Representing the collision with just a single contact works okay for some combinations of objects (such as a sphere and a plane), but not for others (such as a car and a plane: which wheel do we choose?).
