Real-Time Physics Simulation Forum

Penetration

2007-05-29T23:49:03+00:00

This to be precise, Bullet uses EPA by default, it give an exact penetration depth (within a given tolerance). Sampling method is an approximation.

Apart from SAT, which is also exact, other methods to approximate penetration depth include Dual-space Expansion

Benefit of EPA over SAT is that it support non-polyhedral convex objects like implicit cylinders & cones, convex sum of objects, minkowski sum etc.

Hope this helps,
Erwin

Statistics: Posted by Erwin Coumans — Tue May 29, 2007 11:49 pm

Penetration

2007-05-29T16:49:04+00:00

Seperating axes works well for convex shapes in 2D, I'm not sure what potential issues there are with extending it to 3D.

Statistics: Posted by raigan2 — Tue May 29, 2007 4:49 pm

Penetration

2007-05-29T16:32:01+00:00

Just out of curiousity. What methods can be used to compute the (deep) penetration of two convex polyhedra. Are there any alternatives to EPA and Erwin's "Sampling" method that he uses in Bullet?

Statistics: Posted by Dirk Gregorius — Tue May 29, 2007 4:32 pm