Robust implementation of the Expanding Polytope Algorithm (EPA).
The implementation itself is contained in UEPA.cs. The algorithm detects whether two convex objects are separated or colliding and returns the points of closest distance and deepest penetration, respectively.
The expanding polytope algorithm is used also for the separating case - simplifying the algorithm for collision detection for the general case.
- Install the .NET 10.0 SDK and the WASM workloads:
dotnet workload install wasm-tools wasm-experimental - Clone and run:
git clone https://github.com/notgiven688/unified_epa.git cd unified_epa/src/UnifiedEPA.WebDemo && ./run