Real-Time Physics Simulation Forum

Hi everyone,

I want to change the Collision Detection algorithm to SAT algorithm. I only found GJK algorithm in Bullet. Is there SAT algorithm in Bullet Physics Engine which I can call it directly? Or I have to achieve that by myself?

Thank you in advance!
Daye

i think you should implement it yourself, but you can refer to the GPU part computeConvexConvexContactsGPUSAT()

Yes, Bullet provides a SAT implementation.

You need to call the convexHull->initializePolyhedralFeatures(), this will create edges/trangles for a point cloud.
convex hull generation is

then enable SAT using getDispatchInfo().m_enableSatConvex=true;

Implementation is in src\BulletCollision\CollisionDispatch\btConvexConvexAlgorithm.cpp
and its contact clipping here:
src\BulletCollision\NarrowPhaseCollision\btPolyhedralContactClipping.cpp