Williams J, Lu Y and Trinkle J.
(2016). A Geometrically Exact Contact Model for Polytopes in Multirigid-Body Simulation. Journal of Computational and Nonlinear Dynamics. 10.1115/1.4034390. 12:2. Online publication date: 1-Mar-2017.https://asmedigitalcollection.asme.org/computationalnonlinear/article/doi/10.1115/1.4034390/472898/A-Geometrically-Exact-Contact-Model-for-Polytopes