Physics for Game Programmers: Collision Detection

Contact normal, contact point, penetration depth.

Angular velocities are ignored, Position velocities is be used.

Convex-convex and convex-mesh collisions.

CSO(configuration space obstacle) of A ad B is the set of all vector from B to A ( A - B )

Point queries are easier than queries on pairs of shapes.

Intersection testing: if object is involved in CSO.

Separating Axis method

Test all face normals and all cross products of edge directions.

GJK Ray test ?


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