Algorithm 1 Contact Solver base Force

Given parameters $K$ and $CR$

while True do

Get position of collide object ${\delta }_i\left[t\right]$

collide(A,B)//Collision detection for object A and B

if number of contact > 0

Compute ${\mathit{I}}^{\mathit{c}},{\ddot{\mathit{r}}}_c,{\mathit{I}}^{eff}$

for each contact i do

if contact is start

then ccd $p_i\left[t\right]\leftarrow p_i[t-1]$

else if contact is end

then $t\leftarrow t_c$//modify time of contact

end if

Compute $a_i\left[t\right],v_i\left[t\right],p_i\left[t\right]$ with integrator

Compute $f_i\left[t\right]\leftarrow F_i\left[t\right]/∆t$

end for

end if

end while