Separating Axis Theorem Refinements and Expansion


In this video, javidx9 explores two techniques for collision detection and static resolution for convex polygons. While his collision detection using the Separating Axis Theorem is just as robust as his diagonals approach, his static resolution for SAT is slightly naïve. His implementation assumes the smallest possible displacement to resolve the collision is along the vector between the centers of the colliding polygon and the collided polygon, with a magnitude of the smallest displacement. This assumption is not always correct, and can lead to incorrect resolution with large overlaps. The correct resolution vector is along the normal of the axis with the smallest overlap.

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