EPA Explanation & Implementation

Описание: GJK tells us if there is a collision, but doesn't give enough information to respond to it. In this video I cover a supplemental algorithm called the Expanding Polytope algorithm that uses the pieces from GJK to give us this info. With it we can respond to collisions between any two convex polygons.

Check out the full article: https://winter.dev/articles/epa-algor...

GJK Tool: https://winter.dev/articles/gjk-algor...

Intro: 0:00
Explanation: 0:23
2D Implementation: 1:36
3D Implementation: 2:55
Demos: 5:25