GoKawiilBox3D's SAT collision algorithm gets faster with inscribed-sphere technique
A blog post by the Box3D physics engine developer details how the separating axis test (SAT), used to compute contact manifolds between convex polytopes, can become computationally expensive—up to O(N^3) in vertex count—largely due to edge-pair testing. The post outlines existing optimizations already in Box3D, including Gauss maps, SIMD edge-pair testing, feature caching, and contact recycling, before introducing an inscribed-sphere technique credited to Pierre Terdiman from 2011 as a further speed-up method.