Sun Oct 5 21:00:04 2025 (*097dfbf6*):: https://x.com/AnkaHeChen/status/1974366743834603765 +public! *** Anka He Chen (@AnkaHeChen) on X *** Penetration-free for free, you need OGC. I released the code of our SIGGRAPH 2025 paper: Offset Geometric Contact, where we made real-time, penetration free simulation possible, with @JerryHsu32 @zihengliu @milesmacklin @YinYang24414350 @cem_yuksel Page: