Complementarity based multiple point collision resolution

Abstract

Collision detection and response is one of the most extensively researched areas in computer graphics but yet, very little information is available on how to deal with multiple collision situations after they have been detected. In general such topics are quickly brushed over and are small parts of a much larger topic. This paper aims to break this trend and to give a thorough and hopefully informative presentation on how to effectively extract appropriate impulses for multiple point collisions using Linear Complementarity Programming techniques.