I have been working on a collision engine in Java, utilizing the Separating Axis Theorem in 3D space. I have it working successfully in all cases (that I could think of testing) with object-oriented bounding boxes, but I'm finding that SAT isn't super accurate at detecting collisions as immediately with other convex 3D polygons. Corners of rotated polygons may overlap a small amount before any valid collision is found, and the subsequent clipping algorithm I use to calculate contact points will fail. I'll highlight the main points on my current SAT implementation below, and I'd just …
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