It is good to point it out it is for offline simulations. There is some related recent work, Offset Geometric Contact that is suitable for interactive use: http

It is good to point it out it is for offline simulations. There is some related recent work, Offset Geometric Contact that is suitable for interactive use: https://ankachan.github.io/Projects/OGC/index.html https://ankachan.github.io/Projects/OGC/index.html