Real-Time Physics Simulation Forum

Hi!
if we have more than one point contact, what to do, calculate any point impulse, but how?
so calculate them separately, and get the sum of their impulses, that's what I do,you?

I still not implemented this but I'm pretty sure that a reasonable way is to treat this contacts in a way you treat any other constraint. I.e. you can just iteratively solve corresponding (inequality) constraints. Or (a better way) you solve them simultaneously. Look at the end of Erin's presentation on GDC in 2014, for example.