“An implicit formulation for precise contact modeling between flexible solids” by Gascuel

This paper presents an implicit deformable model, based on isosurfaces of potential fields generated by skeletons, that provides
elegant and unified formulations for both geometric parameters
such as shape or deformation and physical properties such as rigidity. The model is especially designed to improve collision and
contact processing for non-rigid objects. In particular, it generates
and maintains exact contact surfaces during interactions.

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