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I am looking for literature - or a simple explanation - on how the Farseer (and for that reason, the Box2D) collision detection system works - specifically the logic that comes after the broadphase culling:

  • What data structure does it use?
  • How does it use that data structure to determine if a collision has occurred?
  • How does it calculate the response normals?

NB: I am not asking how to use it, I merely want to know how it works as a matter of personal enlightenment.

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  • \$\begingroup\$ Add a bounty and post the link to question on Farseer/Box2D boards. \$\endgroup\$ – Den Nov 2 '11 at 12:02
  • \$\begingroup\$ Have you considered jumping into the source and checking it out? \$\endgroup\$ – Richard Marskell - Drackir Nov 2 '11 at 18:26
  • \$\begingroup\$ @Drackir I definitely have been looking at the code - but it's hard to get started when I don't know what I am actually looking at :). Really; I am just look for a broad overview so that I have it at the back of my mind while reading the code. \$\endgroup\$ – Jonathan Dickinson Nov 2 '11 at 21:31
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I really recommend Real-Time Collision Detection by Christer Ericson

It'll answer all your questions, go buy, rent, steal this book.

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  • \$\begingroup\$ It's worth noting, that this book covers 3D collision detection, whereas box2d and farseer are 2D. \$\endgroup\$ – George Duckett Nov 2 '11 at 15:44
  • \$\begingroup\$ Many thanks. I'll avoid stealing it at all costs :). \$\endgroup\$ – Jonathan Dickinson Nov 2 '11 at 21:31
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There is a small explanation of the Farseer 2.1 physics. It includes information on both SAT and Distance Grid detection.

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