The method generates a simulated object represented by finite elements each comprising two or more nodes that represent a first physical object, the first simulated object comprising a plurality of segments placed adjacent to each other to form a surface of the first simulated object. The method further includes generating a second simulated object. The method determines the distance between individual segments of the first simulated object and the plurality of segments of the second simulated object. The method determines a stiffness matrix and force vectors for the at least one segment of the first simulated object that is in contact with at least one segment of the second simulated object. The method transforms the stiffness matrix and the force vector from the segments to determine a stiffness matrix and a force vector on the two or more nodes of the finite element representation of the physical objects.