Rigid Body Collision and how to make a Distance Field from Triangle mesh

“Non-convex rigid bodies with stacking” by Eran Guendelman, Robert Bridson and Ronald Fedkiw
http://www.rowlhouse.co.uk/jiggle/index.html

Generating Signed Distance Fields From Triangle , J. Andreas Bærentzen and Henrik Aanæs

http://www-cs-students.stanford.edu/~eparker/files/PhysicsEngine/