Experimental Fourier based collision detection and rigid body dynamics This project is an application of some of the more concrete aspects of group morphology. In this code, the non-penetration constraint for two rigid bodies is modeled as a holonomic constraint on their configurations. We generate such a constraint by convolving the indicator functions of their respective sets together. Impulse response forces are computed by taking the gradient of this convolution map. Results of this research will appear in an upcoming paper.