I have some experiences on particle system simulation (namely DEM - Discrete element method), in which an individual particle with realistic shape (convex and non-convex) is approximated by gluing 3D spheres together (non-overlapping or overlapping), and act like rigid body. The collision detection is performed by the simplest sphere-sphere contact.
Nevertheless, for particle shape representing by polyhedrons, almost all the collision detection algorithms for broad and narrow phases are based on convex polyhedron (e.g. GJK). For non-convex/concave shapes, convex decomposition is required to divide the concave object into many convex components (e.g. V-HACD).
At this point, I really want to know the details on:
1) how to store the concave objects via many convex components into memory (like BSP tree?);
2) collision detection and contact forces calculation between convex-concave, concave-concave objects.
I have searched quite a few relevant books like "Real-time collision detection" and "3D game engine design", etc, unfortunately I haven't find any details on this topic yet. Could some veteran game developers give some advice or insight on how to implement collision between concave objects?
Seems the physics engines likes Bullet3 and reactPhysics3D are able to simulate collision of non-convex objects. Can someone give some rough idea on how to do this? before I dig into the source codes, since i have only some academic experiences on molecular dynamics / DEM simulations mainly based on 3D spheres.