3 ms·
While I agree that GJK is more useful for typical collision detection scenarios, I was of the impression that the OBB/OBB collider function in ODE/Bullet can ge
by MrScruff 11y ago
While I agree that GJK is more useful for typical collision detection scenarios, I was of the impression that the OBB/OBB collider function in ODE/Bullet can generate multiple contacts, while GJK is limited to one. Is that correct?
- Animats 11y agoGJK only generates one contact, but it can be vertex/vertex, vertex/edge, edge/edge, edge/face, or face/face. In a physical simulation, reaching stability in a face/face contact is common. In Falling Bodies, by version 2, we went further. GJK gave us the two closest features. From those, we took the two most parallel faces. Those faces were then projected on the plane perpendicular to the closest point vector and through its midpoint. The intersection of those polygons was computed and treated as a contact patch. The goal was to eliminate all discontinuities in changes of the contact force vector as the objects moved, so that we never integrated across a discontinuity. This was for spring/damper contact simulation, which is more realistic than impulse/constraint contact simulation, but more CPU-intensive. In the era of 100MHz CPUs, it was too slow for games, but good for movie-quality animation.