Real-Time Physics Simulation Forum

What would the contact manifold between a cylinder resting over a box(with its circle base over the top face of the box) look like? How would you represent this manifold? Discretize the circle in some contact points?

Thanks.

In my own physics engine implementation I sample 8 points on the cylinder end circumference hoping to get a reasonably shaped manifold when placing a cylinder on a box. Seems to work ok in practice.