Collision detection for phyz physics engine.
Implements GJK (Gilbert-Johnson-Keerthi) for distance queries, EPA (Expanding Polytope Algorithm) for penetration depth, and broad-phase spatial hashing.
Collision detection for phyz physics engine.
Implements GJK (Gilbert-Johnson-Keerthi) for distance queries, EPA (Expanding Polytope Algorithm) for penetration depth, and broad-phase spatial hashing.