Lots of equations, scary :blink: Do you understand what is being explained in this paper?
Collision response and preventing inter-penetrations, I think. I must admit, I never studied it to much, I just used some of the code once. Like you said, lots of equations @Nyx
Do you think this would require more implementation effort than a system based on bounding volumes?
Hard to say really, I guess it depends on what kind of collision detection you need. The standard rigid body solution might be easier, because of all the code already on the net, but it would be limited to solid objects.
On the other hand, doing a point-based goal-oriented implementation should not prove difficult at all, and it has the nice side-effect of allowing soft bodies.