Game Development Reference
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normals, the texture coordinates at the vertices are interpolated using barycentric
coordinates. The resulting texture coordinates are used for fetching the proper
normal from a texture. Normal maps can be used to create bumps on a flat surface,
for instance, for modeling metal grating or brick roads. In the future, when haptic
feedback takes a more prominent role in the gaming experience, normal maps can
help enrich the world perception and are expected to be a common part of any
physics system.
5.8 Conclusion
With the addition of the continuous collision test presented in Section 5.6, GJK re-
mains the most versatile algorithm for performing proximity queries. This single
algorithm computes space-time collisions, distances, common points, separating
axes, and ray casts. Together with the hybrid approach for computing the pene-
tration depth, we have a complete tool set for finding contact data. The beauty
of it all is that GJK and EPA are applicable to any combination of convex shape
types. The use of support mappings for reading geometry offers new methods for
representing shapes in game environments and removes the need for representing
convex shapes with polygonal surfaces. Moreover, GJK is one of the fastest al-
gorithms available for collision detection between convex polytopes and offers a
smooth tradeoff between accuracy and speed.
The application domain is not restricted to convex shapes: in Section 5.7, we
presented a solution for finding contact data between triangle meshes and convex
shapes. Even the most basic three-dimensional game will have a convex shape
sliding, rolling, or strafing along a triangle mesh, so obtaining smooth contacts
for these cases should receive top priority.
[Cameron 85] S. Cameron. “A Study of the Clash Detection Problem in
Robotics.” In Proceedings of the IEEE International Conference on Robotics
and Automation , pp. 488-493. Los Alamitos, CA: IEEE Press, 1985.
[Cameron 90] S. Cameron. “Collision Detection by Four-Dimensional Intersec-
tion Testing.” IEEE Transactions on Robotics and Automation 6:3 (1990),
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