# Detect collision point [duplicate]

I'm writing a 3D rigid body physics engine, I am using OpenGl for simulation.

Only convex objects are considered.

My question involves how to detect the point of collision, so that when I apply a response force, I can also calculate torque.

I have used SAT algorithm to detect collision according to this reference,

Everything seems to be work fine , But as i get SAT only gives for objects are they colliding? as well as by how much?, it does NOT give you a reference point at which to apply the response force (and thus calculate torque).

I have looked at

Resource 1

Resource 2

Resource 1

None of them seems to be an answer