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Learning Physics Modeling with PhysX by Krishna Kumar

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Narrow-Phase collision detection

Object pairs that are found to be positive in the Broad-Phase collision detection algorithm are further tested for Narrow-Phase collision detection. In this phase, the actual object pairs are tested for collision instead of their AABB, which can be expensive because the object's polygon count can vary from 3 to n vertices. Other information that is calculated in this phase are point of intersection, collision normal, and penetration depth. These properties are important for the collision response phase.

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