A fast 3D collision detection algorithm
This article will assume some familiarity with narrow phase collision detection methods and associated geometric concepts such as the Minkowski sum. A few years ago I was watching Dirk’s great presentation, The Separating Axis Test between Convex Polyhedra (video, slides). Around the 18 minute mark (slide 29) he starts talking about overlaying Gauss maps of convex polyhedra to find the faces of their Minkowski difference. Figure 1: A gauss map for two convex hulls The upshot is that all faces