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wall/contact point detection

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Need a way to detect wall collison approximate without actually colliding?

somewhat like a radial radar to detect any nearest wall, and then push maybe AABB, sweeptest or raycasts, and the filter for the nearest contact point.

I tried some solutions like brute forcing through every single triangle in unity, or implementing GJK, so i understand some concept... but the solution isnt exactly cheap on the runtime, and i have reference from PSP titles that the concept can be achieved with less and higher precision.

Any ideas? i may need the right mathemathical algorythm or terms to even begin seeing whats the solution....

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