https://github.com/notgiven688/unified_epa

Robust and simple implementation of the Expanding Polytope Algorithm (EPA)
https://github.com/notgiven688/unified_epa

collision-detection epa gjk gjk-algorithm physics physics-engine

Last synced: 4 months ago
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Robust and simple implementation of the Expanding Polytope Algorithm (EPA)

• Host: GitHub
• URL: https://github.com/notgiven688/unified_epa
• Owner: notgiven688
• License: mit
• Created: 2021-06-20T14:38:02.000Z (almost 5 years ago)
• Default Branch: main
• Last Pushed: 2024-12-19T23:31:02.000Z (over 1 year ago)
• Last Synced: 2024-12-20T00:26:41.181Z (over 1 year ago)
• Topics: collision-detection, epa, gjk, gjk-algorithm, physics, physics-engine
• Language: C#
• Homepage:
• Size: 407 KB
• Stars: 19
• Watchers: 1
• Forks: 5
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Unified EPA (UEPA) Demo 

[![uepa_tests](https://github.com/notgiven688/unified_epa/actions/workflows/uepa_tests.yml/badge.svg)](https://github.com/notgiven688/unified_epa/actions/workflows/uepa_tests.yml)

Robust and simple implementation of the **Expanding Polytope Algorithm** (EPA).

The demo is written in C#, with [OpenTK](https://github.com/opentk/opentk) as only dependency.

## Some Details

The implementation itself is contained in [UEPA.cs](src/UEPA.cs) with ~400 lines of code. The algorithm detects whether two convex objects are separated or colliding and returns the points of closest distance and deepest penetration, respectively.

The expanding polytope algorithm is used also for the separating case - simplifying

the algorithm for collision detection for the general case.

## Run the demo

The demo should be able to run cross-platform utilizing OpenGL.

1. Install the [.NET 9.0 SDK](https://dotnet.microsoft.com/download/dotnet/9.0)

2. git clone https://github.com/notgiven688/unified_epa.git

3. cd unified_epa && dotnet run -c Release

## Screenshots

[YouTube Video](https://www.youtube.com/watch?v=NMdp7A13EAI)

![alt text](screenshots/uepa.png?raw=true)