Physics Simulation Forum

I have successfully implemented swept ellipsoid v/s triangle test.

Now I'm looking at adding support for rotation.

How can I approach this problem? Can Conservative Advancement be applied here?

Yes, conservative advancement can deal with rotations. This is implemented in Bullet, Catch and Fast libraries.

See also papers here:
http://graphics.ewha.ac.kr/catch/
http://graphics.ewha.ac.kr/fast/
http://www.continuousphysics.com/Bullet ... ection.pdf

As mentioned before, it is best to allow a user-definable 'allowed penetration', to deal with (close) contact situations.

It is on my long todo list to add some Bullet demo that shows how to its continuous collision detection check.

Thanks,
Erwin