This project is an experimental C# implementation of SAT collision and polygon intersection for the Unity game engine. It's specifically designed to be compatable with Unity's Burst Compiler for performance.

• Generation of native half-edge mesh from Unity Meshes.
• Fast convex polygon face/edge boolean collision detection.
• Polygon/Polygon intersection manifold generation (via Sutherland-Hodgman clipping)
• Burst compiled jobs for single and batch collision operations.

Note: Project was created with Unity 2019.2, older versions may not work.

This work is in part derived from BounceLite by Irlan Robson (zLib License): https://github.com/irlanrobson/bounce_lite

The SAT implementation is based on the 2013 GDC presentation by Dirk Gregorius and his forum posts about Valve's Rubikon physics engine:

• https://www.gdcvault.com/play/1017646/Physics-for-Game-Programmers-The
• https://www.gamedev.net/forums/topic/692141-collision-detection-why-gjk/?do=findComment&comment=5356490
• http://www.gamedev.net/topic/667499-3d-sat-problem/