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I recommend you use surface to surface contact instead but if you really really need to use CGAP elements, this is how to do it. This video showcases the current progress of rewriting the whole 'common collision' code, currently targeting the ' I have a faster workflow for generating low poly multiple convex mesh collision shapes now, used here for the pillows, sofa, and ... In this 2018 GDC talk, Respawn Entertainment's Earl Hammon explains how the Titanfall team made already
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Game Engine Programming 059.3 - Optimizing Forward+: approximate sphere-cone intersection | C++
Game Engine Programming 058.2 - Tile-based light culling: Intersection testing | C++ Game Engine
#3 3D Physics Engine Tutorial: Sphere Intersections
OpenGL c++ game engine dev: AABBs versus spheres for shadowmaps
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Last Updated: June 11, 2026
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