Dylan A. Shell, Evan Drumwright. Precise generalized contact point and normal determination for rigid body simulation. In Sung Y. Shin, Sascha Ossowski, editors, Proceedings of the 2009 ACM Symposium on Applied Computing (SAC), Honolulu, Hawaii, USA, March 9-12, 2009. pages 2107-2108, ACM, 2009. [doi]
Abstract is missing.