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Brute force convex object V polygon soup collision

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Does anyone know of a simple brute force 3d convex object (eg. cube) versus polygon soup world (made up of triangles) collision function? For the results, I need a list of collision/contact points, with the following information for each point: 1) Position. 2) Normal. 3) Approximate penetration depth. At this point, I'm not looking for a highly optimized solution, just a simple method for understanding purposes. I know of SAT tests, but I was hoping there's a less complex test that involves edges/face intersections. I've experimented with intersecting edges against faces to find the contact points etc, but I'm having a hard time determining the correct contact normals for correct collision resolving. thanks!

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apart from the SAT test, I can't really help you.... Edge-face intersections are easy, in general intersections are easy, it's what to do with them and how to extract contact that's the hard part. Apart from approximating volumes with spheres, ...

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