Collision-Detection-and-contactpoint-generation

A simple C++ header-only single file that uses the Separating Axis Theorem (SAT) to detect collisions between two Oriented Bounding Boxes (OBB) and generate contact points for vertex-face collisions and edge-edge collisions.

Features

• 3D: Handles 3D collision detection.
• Single header: Easily expandable; just include the header.
• Uses GLM: Utilizes the GLM library for mathematics.

Usage

1. Include the header in your project.
2. Create your OBBs (oriented bounding boxes).
3. Use the provided functions to detect collisions and generate contact points.

Future plans

1. Expand the algorithm to handle general convex hulls (point clouds of vertices).
2. Implement one-shot Contact Manifold generation.

Demo videos

• Contact Point Generation: https://youtu.be/EaaDjnE3eZ4
• Physics solver: https://youtu.be/lEXJKrqvyLk

Some Statements

• For rendering, I used my own game engine 'Calcium Engine', and it is not on github yet.
• Still working on perfecting collision detection for my Calcium Engine.
• In the near future, I might post Calcium Engine's source code on github, but it's very messy primarily because I'm not that good with C++.
• I reccommend using some existing rendering engine for visualization.

References

• SAT Algorithm -> https://dyn4j.org/2010/01/sat/
• Contact Point generation for edge-edge collisions -> https://www.geeksforgeeks.org/shortest-distance-between-two-lines-in-3d-space-class-12-maths/
• Contact Manifold generation -> https://research.ncl.ac.uk/game/mastersdegree/gametechnologies/previousinformation/physics5collisionmanifolds/2017%20Tutorial%205%20-%20Collision%20Manifolds.pdf