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
None of them seems to be an answer