30/08/2017 – Edge to Edge collision point

  • Refactored the collating of the collision points into a function that usees two ot variables to hold the points
  • Following the algorithm set out in Real Time Collision Detection by Christer Ericson (page 147)
    • Get the start and end points of each line
    • Based on the perpendiculary constraints substituting in V(s, t)
    • Rearrange to solve for s and t
      • Where;
        • a = d1.d1
        • b = d1.d2
        • c = d1.r
        • e = d2.d2
        • f = d2.r
    • The results are as expected.
      • they can look off when the cubde are not in rotations of 45 degrees as the corner selection algorithm guves back incorrect points in this situation