Here is one global conflict scenario: the two dynamic objects are not aware that after CCD they end up in the same location.

There are more complicated cases, but this could be a start.

What do you mean by 'local solver'?

The projected gauss seidel/sequential impulse method, where you iterate over an array of pair-wise constraints is a global solver: all constraints are solved within the same loop and there is impulse exchange. The solution converges with a direct LCP solver if you increase the number of iterations.

Thanks,
Erwin

If you solve all the pairwise constraints (by applying impulses or forces) in the same loop, it is still a global solver although it might not converge. Even if you don't clamp the accumulated impulse, the impulse gets applied to each body, so it is part of the history.

Nevertheless, I'm curious what impact this has on the predictive contacts? You would adjust the target velocity based on the predicted allowed motion. Aside from the modified target velocity, there is no modification in the PGS solver (equivalent to sequential impulse as Erin calls it).

Thanks,
Erwin