In the present work, different algorithms for contact detection in multibody systems based on smooth contact modelling approaches are presented. Beginning with the simplest ones, some difficult interactions are subsequently introduced. In addition, a brief overview on the different kinds of contact/impact modelling is provided and an underlining of the advantages and the drawbacks of each of them is determined. Finally, some practical examples of each interaction are presented and analyzed and an outline of the issues arisen during the design process and how they have been solved in order to obtain stable and accurate results is given. The main goal of this paper is to provide a resource for the early-stage researchers in the field that serves as an introduction to the modelling of simple contact/impact events in the context of multibody system dynamics.

中文翻译：

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多体系统动力学几何接触检测的空间算法

在目前的工作中，提出了基于平滑接触建模方法的多体系统中接触检测的不同算法。从最简单的开始，随后介绍一些困难的交互。此外，还简要概述了不同类型的接触/冲击建模，并确定了每种方法的优缺点。最后，介绍和分析了每个交互的一些实际示例，并概述了设计过程中出现的问题以及如何解决这些问题以获得稳定和准确的结果。