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  • Source code: https://github.com/Another-Ghost/
  • 2D
  • Simple rigid body, joint, particle, cloth simulation. using SAT,
  • Spheres are nice and all, but there comes a time when more complex shapes are needed. One popular algorithm for testing ...
  • Implementation of

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In 1988, three engineers came together and developed one of the most clever For more details, see https://caseymuratori.com/blog_0003. GJK

Some years ago I ran into multiple numerical issues implementing

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