PolyCollider

A short demo of the SAT, GJK, EPA and Sutherland-Hodge algorithms, useful for testing arbitrary convex polygon collisions and getting contact points in a physics engine, written in Python.

Check out my blog at https://gavinrobinson.net/index.php/projects/.

References

https://cs.brown.edu/courses/csci1950-u/lectures/04_advancedCollisionsAndPhysics.pdf

https://fjinn.github.io/Experiences/Programming/Math/GJKAlgorithm_README.html

https://github.com/kroitor/gjk.c

https://www.youtube.com/watch?v=Qupqu1xe7Io

https://personal.math.vt.edu/mrlugo/sat.html