I've been doing some rigid body physics as a hobbyist by various impulse based methods. Now, I'm running into contact problems with convex edges (concave stuff seems to work fine), anyway, whenever an object slides over a horizontal polygon onto a sloped (downwards) polygon, I'm getting an unreasonable amount of sticking behaviour. For contact generation, everything is done with polygonal clipping, using these contact points and only these polygon contact normals (i've tried using a few different combinations for edges) for the impulses, but nothing seems to behave "right".
I'd like to note however that my math background is very weak, so please try and avoid directing me at a paper, if at all possible.