Computing penetration depth of collision detection between primitives

DyOP-PD is the third part of narrow phase collision detection that involved finding the penetration depth using Dynamic Pivot Point (DyOP) technique. After the object or the primitive has collided into another primitive, penetration depth algorithm will check for any significant penetration that might occurs upon the intersection. In our implementation, we propose our own algorithm called DyOP-PD where the implementation will be done in 2D for Lin Canny, GJK and DyOP technique and 3D for Lin Canny and DyOP technique. In this chapter, we will explain the concept of our DyOP-PD algorithm that has efficiently contributed to faster penetration depth computation when using DyOP technique.