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I am implementing the narrow phase collision detection of a 2d physics engine.

The narrow phase takes a list of shape pairs:

[(s1, s2), (s2, s5), ...]

And for each pair, it generates a collision manifold, in case they are colliding.

A collision manifold contain the following data:

Collision Manifold:
- Shape a
- Shape b
- Vector2 normal
- float depth
- Point2D contact_1
- Point2D contact_2

The possible shape types for the pairs are:

  1. Circle
  2. AABB
  3. Oriented rectangle
  4. Convex polygon

My question is:

What should be the manifold data for each possible pair?

For example:

In the case of Circle vs Circle:

collision manifold between circle and circle

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