Depth calculation in ConvexSweepTest

[Mathieu Colleaux]

Hi,

I would like to add some depth calculation in the convexSweepTest algorithm to handle cases where the two bodies start off in a penetrating situation, but i don't know where to start.

Can anybody help me to have a better overview of the algorithm, or maybe someone has already done it ?

Thanks for your help,

M. Colleaux