Point of intersection between oriented boxes (or OBB)

Question

I'm trying to write a simulator of a rigid body, and during the simulation I'm not only interested in finding out if two objects collide or not, but also a point, as well as collision normals. I found many resources that actually say whether two OBBs collide or do not use the dividing axis theorem. I'm also interested in the 3D representation of OBB. Now, if I know the axis with the minimum overlap area for two colliding OBBs, is there a way to find the collision point and collision normal? In addition, there are two main cases of collision: first, the point and the second edge. I tried to solve this problem, but almost every solution only detects a collision with true or false.

Please help someone!

Answer 1

Look at the scene in the direction of movement (in other words, apply a change of coordinates so that this direction becomes vertical and reduces height). You get a two-dimensional digit.

Given the edges of two boxes that are facing each other, you will see two hexagons, each of which is divided into three parallelograms.

Then

• Edge intersection detection in 2D. From the relationship of the section at the edges, you can determine the actual distances z.

• For all vertices, define the face on which they fall in another field; and from three-dimensional equations - the breakdown point of the viewing line into the plane of the face, hence the distance. (Repeat this for vertices A and B.)

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