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SnadderLars

Convex hull collision detection with penetration depth

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You might also try the free version of SOLID, which uses GJK to compute static intersection information, and presumably handles arbitrary convex hulls (although I can't say that for sure). Static intersection with penetration depth is fairly easy to code yourself using the separating axis theorem; unfortunately, the SAT doesn't scale well for arbitrary convex polytopes so may not be a viable solution. A Minkowski-based solution such as GJK or the paper nire linked to would probably be preferable.

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