Game Development Reference
F IGURE 13.5
The point-face contact data.
F IGURE 13.6
The edge-edge contact data.
The contact normal is at right angles to the tangents of both edges. The vector
product is used to calculate this.
The contact point is typically the closest point on one edge to the other. Some
developers use a point midway between the two edges, which takes longer to calculate
but is marginally more accurate. The penetration depth is the distance between the