This project is an experimental C# implementation of polyhedron SAT collision and intersection for the Unity game engine. It's specifically designed to be compatible with Unity's Burst Compiler for performance.

The math is ported to C# from the C++ BounceLite project by Irlan Robson (zLib License) and adapted for Unity's new Math library and Burst Compiler requirments: https://github.com/irlanrobson/bounce_lite

The SAT implementation is originally based on the 2013 GDC presentation by Dirk Gregorius and his forum posts about Valve's Rubikon physics engine:

• https://www.gdcvault.com/play/1017646/Physics-for-Game-Programmers-The
• https://www.gamedev.net/forums/topic/692141-collision-detection-why-gjk/?do=findComment&comment=5356490
• http://www.gamedev.net/topic/667499-3d-sat-problem/

• Generation of native half-edge mesh from Unity Meshes.
• Fast convex polyhedron face/edge boolean collision detection.
• Polyhedron intersection manifold generation (via Sutherland-Hodgman clipping)
• Burst compiled jobs for single and batch collision operations.
• Experimental bounding volume hierarchy.
• NativeBuffer collection able to run off stackalloc.

Note: Project was created with Unity 2019.2, older versions may not work.

View a fast version of the contact for physics calcluations. This mode a processes a minimal set of geometry, just enough to move colliding objects apart. Versus the full intersection mode, which needs to clip every face for visual/mesh creation purposes.