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modeling contact between deformable solids is a fundamental problem in computer animation and many other fields the computer Graphics Community has made great strides in contact detection and response over the past two decades the state-ofthe-art is perhaps best reflected in the incremental potential contact method or IPC this algorithm can generate compelling animations for highly challenging contact scenarios however there are still limitations with existing formulations that demand further investigation in this example a deformable cube is pressed down onto a frictionless surface and subjected to a constant horizontal Force whereas the cube should remain in motion IPC generates spurious tangential forces that slow down and ultimately stop the cube to understand this problem we consider the case of a single vertex moving at constant distance to a sequence of cinear elements sufficiently close for Collision response to become active a straight forward way of modeling contact is to sel
