The big issue with intersections of convex objects is that there might be infinitely many intersection points (two cubes lying on top of each other). This crea

The big issue with intersections of convex objects is that there might be infinitely many intersection points (two cubes lying on top of each other). This creates a multitude of numerical issues. I worked on this topic extensively for a DEM software where you need to calculate a lot of these interactions with extremely high precision (overlaps between objects are usually < 1% of the bounding radius) and since it's not computer graphics but engineering you really need stability and performance. That was a real tough challenge involving lots of identifying limiting scenarios during large simulations but it works quite nicely now [0]. [0]: https://www.youtube.com/watch?v=pjQTzwAqnHM https://www.youtube.com/watch?v=pjQTzwAqnHM