New blog post on speeding up the separating axis test (SAT) using inscribed spheres: box2d.org/posts/2026/0...
box2d.org
Inscribed Spheres
The separating axis test (SAT) works well for computing contact manifolds. Unlike GJK, it is robust when shapes are very close together and it works when shapes are overlapped. Box3D uses SAT for comp...
