Game Development Reference
developing in this topic, or take their algorithms as inspiration for creating your own
Be warned though : There are so many cases, and so many optimizations possible,
that it will end up a bigger job to write a comprehensive collision detection system
than it will be to create your physics engine to process the contacts.
With a collision detection system running correctly, it's time to return to our
physics engine and process the collisions that we've found. Chapter 14 continues to
cover the issue of impact collisions and shows how to build code to support collisions
for full rotating rigid bodies.