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Apr 9 at 21:50 comment added Eilan Laken I think you misunderstood the question. I am doing a multithreaded broad phase using spacial partitioning and bounding circles, which are invariant to rotation. My concern is with regards to the narrow phase - and concave vs concave shape in particular. I can create the collision manifold by running the SAT between every pair of triangles from the original polygon, but I wonder if there's a more economical fashion to break up the polygon.
Apr 8 at 16:07 comment added DMGregory Note that OP is trying to use convex-only collision detection without checking per-triangle of a mesh in the narrow phase. They're also working in 2D, not 3D.
Apr 8 at 12:53 history answered liggiorgio CC BY-SA 4.0