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Dynamic SAT Collision Times

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Hi guys,

I'm using 2D convex polygons (not AABBs or OBBs) and understand how to use the static SAT to test for and separate penetrating objects. I'm trying to implement dynamic testing for moving objects, I understand that I should project the relative velocity onto the seperating axes but that's as far as I get. I can't figure out how to analyze the intervals to compute the time of collision.

I'm also not sure if I have to check if the objects are heading towards each other and, if so, how to do that.

Please help.

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