[kidzik]

That's only one-side of the story. It is actually a very accurate contact model. The problem is that it's also computationally expensive and therefore we reduce the stiffness of objects to make it faster. It's basically a trade-off between the accuracy and speed. In gaming engines you have speed and it looks good, but then it's impossible to generalize for real-life applications (because the contact is inaccurate).

[electricslpnsld]

> The problem is that it's also computationally expensive and therefore we reduce the stiffness of objects to make it faster.

Are y'all using penalty methods for the collisions? Which model does it use?