Abstract
As soon as we are interested in the simulation of interacting objects raises the issue of the choice of a relevant numerical model and of technical approaches suitable to the solving strategy. It concerns the choice of objects bulk behavior (which reduces to kinematic parametrization if they are considered as rigid), object shape description, contact behavior, contact detection technics and solving strategy (e.g. time evolution, time integration, contact solver, etc.) The principal difficulty comes from the choice of a model and numerical technics and strategies. However models and strategies are usually related. Various models and strategies are already presented in this book which explains why this chapter only focuses on specificities and sophistications necessary to the modeling of collection of objects with complex shapes described by polyhedra.