A contact plane with a vector connecting a collision representative point pair detected by collisiondetectionalgorithm as a normal vector is defined, and a half-contact polygon imparting a contact shape with the contact plane in each the solid body is found. 衝突検出アルゴリズムで検出された衝突代表点対を結ぶベクトルを法線ベクトルとする接触平面と定義し、立体毎に接触平面との接触形状を与える半接触多角形を求める。 - 特許庁