Скачать с ютуб Visualizing Minkowski Difference and EPA (Expanding Polytope Algorithm) в хорошем качестве

Visualizing Minkowski Difference and EPA (Expanding Polytope Algorithm)

Using my debug system here to visualize the result of GJK + EPA. The object convex hulls, their Minkowski difference, the hull created by the EPA and the minimum separation vector is shown. Only "deep" penetration is considered here, i.e. no extra margins for "shallow" penetration was added. Every object consists of the union of one sphere and one box randomly rotated and scaled. The resulting object is then also rotated and scaled. All the objects are unique and needs to be updated each frame. These algorithms are really sensitive to floating point errors, especially if high precision results are needed. As usual, visualizing everything was quite handy for finding and fixing bugs! You can see some of it in this video:    • Devlog - Procedural Stone Generation   And you can also see it in action in this video:    • Smooth FPS Movement with Collision De...   Where everything is built from different convex colliders (the ground heightmap is split up into individual triangle colliders). This video was recorded on a laptop: [email protected], GeForce RTX 2060 Rendered using OpenGL 1.1 #indiegame #gamedev #gameengine #physicsengine