
Collision detection 403
Colliding triangles
Objects in the
same zone
Sweep and prune of AABB as per the AABB axes
constructed from the objects (or their OBB)
Calculation of distance by Voronoi Marching
between convex envelops of objects
Detection between OBB
hierarchies
Detection between
triangles
Intersecting AABB
Intersecting convex
envelops
Polyhedrons whose
AABBs cut each other
Intersecting
polyhedrons
Division of objects into cells
In each cell, sweep and prune of
AABB bounding the objects
Calculation of a separator plane
between the two polyhedrons
GJK between
polyhedrons
Figure 17.13 Steps used by two standard libraries
of the polynomial roots obtained and