20. Collision & Contact Physics

Computational collision detection prevents virtual solids from passing through one another. This chapter investigates the Gilbert-Johnson-Keerthi (GJK) algorithm, Expanding Polytope Algorithm (EPA) contact manifolds, Continuous Collision Detection (CCD) spatiotemporal sweeps, and speculative contact solvers.

1. GJK & EPA Contact Physics — Interactive geometrical visualization of GJK collision detection and EPA penetration manifolds.
2. Continuous Collision (CCD) — Interactive geometrical visualization of CCD swept volumes and speculative contact constraints.