URL details: dyn4j.org/2010/05/epa-expanding-polytope-algorithm/
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dyn4j
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In the last few posts we learned about using GJK for collision detection, distance between shapes, and finding the closest points. It was stated that GJK must be augmented with another algorithm to find collision information like the penetration depth and vector. One such algorithm is EPA.
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2022-09-15
EPA