One of the weaknesses of the Untold Engine is the Collision Detection System. At times it fails to detect collisions and produces the incorrect collision response. Developing a stable Collision Detection System is tough. And I have realized that it can’t be taken lightly. Thus, my primary goal for 2019 is to focus solely on improving the Collision Detection System of the engine. 

As you are aware, the GJK algorithm is in charge of detecting collision among convex objects. The current GJK implementation has helped several ill-Conditioned Error Bounds which I have yet to improve. For example, the engine fails to detect collisions between objects of disproportionate sizes. As another example, rotation causes the algorithm to miss detections.

Moreover, the BVH algorithm, which is in charge of parsing the space between objects, is inefficient. It is currently implemented as a “Recursive” algorithm, instead of as an “Iterative” algorithm.  And The algorithm slows down after a few dozen objects. 

Finally, the Sutherland-Hodgman algorithm also has flaws. Most of the time, it produces the correct Collision-Manifolds, but at times it provides the incorrect manifolds, thus affecting the collision response of the engine. 

Getting Collision Detection to work is extremely complicated, especially for 3D convex objects, but I’m looking forward to improving the Collision Detection System and have a better engine by the end of 2019.

Thank you for reading.