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A fast 3D collision detection algorithm
Make your separating axis tests 5x faster with this one weird trick!
A few years ago I was watching Dirk’s great presentation, The Separating Axis Test between Convex Polyhedra ( video, slides). Around the 18 minute mark (slide 29) he starts talking about overlaying Gauss maps of convex polyhedra to find the faces of their Minkowski difference. By analyzing the properties of the support function, we found its minimum must lie on the "kinks" formed by the intersection of great circles on a Gauss map.
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