Narrow Phase

Definition:

The narrow phase is the part when collisions between shapes will be tested with their actual geometry.

It means these collisions are precise, but also performance heavy.

The brute way to do things would be to test every triangle against each other. However, that would be too slow.

Algorithms have been created to make it faster. Most of them use the properties of convex shapes.

Requirements:

For this phase to be useful, it must return :

• The point of collision
• The normal of the impact
• The penetrated distance between the two shapes

Without that, we wouldn’t be able to make a proper collision response afterwards.