Hi,
for the last month i have been trying to implement SAT into a physics engine, the best and the cleanest way i could v found was the Gregorius Dirk's from GDC 2013, and i have been trying since then to get a convex hull with a half edge data structure to work, the thing that proves to be hard for me, iv tried the quick hull, but i couldn't get to implement it,
please, if there is any implementation or an article with a clear algorithm of the former your aware of, share it with us,
thank you,