A fast 3D collision detection algorithm

This is novel indeed! What about non-spherical shapes? Do we assume a spherical bounds and just eat the cost? Either way, narrow phase gets extremely unwieldy when down to the triangle level. Easy for simple shapes but if you throw 1M vertices at it vs 1M vertices you’re going to have a bad time.

Any optimization to cut down on ray tests or clip is going to be a win.

> Do we assume a spherical bounds and just eat the cost?

We pick the bounding volume that is most suitable to the use case. The cost of non-spherical bounding volumes is often not that severe when compared to purely spherical ones.

https://docs.bepuphysics.com/PerformanceTips.html#shape-opti...

Edit: I just noticed the doc references this issue:

https://github.com/bepu/bepuphysics2/issues/63

Seems related to the article.