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I am working on a project in which I have implemented the Separating Axis Theorem to detect collisions between objects. My current collision response is an object that contains whether it is overlapping and what the minimum translation vector (MTV) is.

I then take the MTV and add it to the linear velocity of the object we're testing. This all works fine. However, I want to add rotational forces to the object based on the collision. For this, I imagine we will need two things:

  • The Minimum Translation Vector, which represents the force
  • A contact point, which is the point at which the MTV-force gets applied to the object

However, I have been struggling with calculating the contact point for the past two/three days. I haven't been able to find good resources on this, unfortunately.

How would I go about calculating a suitable collision response as I described? Thank you very much!

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