highfidelity/hifi — pull request #3241 by AndrewMeadows (2014-08-01 18:29:57+00:00)
Title: Ragdoll Part 7: introduction of ContactConstraint

Using ContactConstraint to try to prevent tunneling. There are noticeable improvement for arm-vs-arm tunnelling but fingers can still tunnel through arms and other fingers -- their shapes are too small and contact points lose coherence during enforcement of other constraints.

Next: improve anti-tunneling and add friction effects.