I am looking for literature - or a simple explanation - on how the Farseer (and for that reason, the Box2D) collision detection system works - specifically the logic that comes after the broadphase culling:
- What data structure does it use?
- How does it use that data structure to determine if a collision has occurred?
- How does it calculate the response normals?
NB: I am not asking how to use it, I merely want to know how it works as a matter of personal enlightenment.