Abstract: A method for conducting a computerized simulation of a collision between at least two objects. The method includes creating a representation of each of the objects. Each representation is typically is a mesh of nodes and surface elements. The method also typically includes colliding the representations of the objects such that the representations contact each other, and at least a first representation experiences a respective deformation at each of a plurality of contact points. In addition the method typically includes, for at least a subset of the plurality of contact points, computing a respective local collision force associated with the deformation at such contact points, and calculating a resultant generalized collision force acting at a predetermined point associated with the first representation based on the local collision forces. Typically, the respective local collision force is related to a distance the region of the representation is deformed by a deformation relationship.