A 2D polygon/polygon contact model: algorithmic aspects

This paper proposes an energy-based general polygon to polygon normal contact model in which the normal and tangential directions, magnitude and reference contact position of the normal contact force are uniquely defined. The model in its final form is simple and elegant with a clear geometric perspective, and also possesses some advanced features. Furthermore, it can be extended to a more complex situations and in particular, it may also provide a sound theoretical foundation to possibly unifying existing contact models for all types of (convex) objects.