I am currently implementing a separating axis theorem collision response. It can be used by oriented bounding boxes and axis-aligned bounding boxes.
So far I have covered face-something contacts. I struggle witth the edge-edge cases. I know the all the axis, penetration depth and the collision normal. But I don’t understand the how I can receive a contact point. I read something about using supporting points but what is a supporting point? There are just a few explanations with even less information.
Do you know a good source which explains something? I already digged into some source code of different physic engines. But every engine calculates it different and the comments often don’t even exist.