Speeding up the separating axis test using inscribed spheres
Summary
The article introduces inscribed spheres to accelerate the Separating Axis Test (SAT) for convex hulls by providing a tight upper bound on potential separations. It details both 2D intuition and 3D edge culling via Gauss maps, includes concrete code snippets for face and edge tests, and presents benchmark results showing substantial speedups over baseline SAT and competitive performance with GJK in certain scenarios.