basilisk-engine 0.1.14__py3-none-any.whl → 0.1.16__py3-none-any.whl

basilisk/collisions/collider.py

@@ -1,96 +1,96 @@
-import glm
-from ..generic.abstract_bvh import AbstractAABB as AABB
-from ..generic.meshes import transform_points, get_aabb_surface_area
-from ..mesh.mesh import Mesh
-from .narrow.dataclasses import Collision
-
-class Collider():
-    node: ...
-    """Back reference to the node"""
-    collider_handler: ...
-    """Back reference to the collider handler"""
-    half_dimensions: glm.vec3
-    """The axis aligned dimensions of the transformed mesh"""
-    static_friction: float = 0.8 # input from node constructor
-    """Determines the friction of the node when still: recommended 0 - 1"""  
-    kinetic_friction: float = 0.3 # input from node constructor
-    """Determines the friction of the node when moving: recommended 0 - 1"""
-    elasticity: float = 0.1 # input from node constructor
-    """Determines how bouncy an object is: recommended 0 - 1"""  
-    collision_group: str # input from node constructor
-    """Nodes of the same collision group do not collide with each other"""
-    has_collided: bool
-    """Stores whether or not the collider has been collided with in the last frame"""  
-    collision_velocity: float
-    """Stores the highest velocity from a collision on this collider from the last frame"""  
-    collisions: dict # {node : (normal, velocity, depth)} TODO determine which variables need to be stored
-    """Stores data from collisions in the previous frame"""
-    top_right: glm.vec3
-    """AABB most positive corner"""
-    bottom_left: glm.vec3
-    """AABB most negative corner"""
-    aabb_surface_area: float
-    """The surface area of the collider's AABB"""
-    parent: AABB
-    """Reference to the parent AABB in the broad BVH"""
-    mesh: Mesh
-    """Reference to the colliding mesh"""
-
-    def __init__(self, node, collider_mesh: str|Mesh=None, static_friction: glm.vec3=0.7, kinetic_friction: glm.vec3=0.3, elasticity: glm.vec3=0.2, collision_group: str=None):
-        self.collider_handler = None
-        self.node = node
-        self.static_friction = static_friction if elasticity else 0.8 # added checks to prevent floats being set to None. Also done for kinetic and elasticity
-        self.mesh = collider_mesh
-        self.kinetic_friction = kinetic_friction if elasticity else 0.4
-        self.elasticity = elasticity if elasticity else 0.1
-        self.collision_group = collision_group
-        self.collision_velocity = 0
-        self.collisions: list[Collision] = []
-        self.parent = None
-        
-        # lazy update variables TODO change to distinguish between static and nonstatic objects
-        self.needs_obb = True # pos, scale, rot
-        self.needs_half_dimensions = True # scale, rot
-        self.needs_bvh = True # pos, scale, rot
-        
-    def get_vertex(self, index: int) -> glm.vec3:
-        """
-        Gets the world space position of a vertex indicated by the index in the mesh
-        """
-        return glm.vec3(self.node.model_matrix * glm.vec4(*self.mesh.points[index], 1))
-    
-    @property
-    def collider_handler(self): return self._collider_handler
-    @property
-    def has_collided(self): return bool(self.collisions)
-    @property
-    def half_dimensions(self): # TODO look for optimization
-        if self.needs_half_dimensions: 
-            top_right = glm.max(self.obb_points)
-            self._half_dimensions = top_right - self.node.geometric_center
-            self.needs_half_dimensions = False
-        return self._half_dimensions
-    @property
-    def bottom_left(self): return self.node.geometric_center - self.half_dimensions
-    @property
-    def top_right(self): return self.node.geometric_center + self.half_dimensions
-    @property
-    def aabb_surface_area(self): return get_aabb_surface_area(self.top_right, self.bottom_left)
-    @property
-    def obb_points(self): 
-        if self.needs_obb: 
-            self._obb_points = transform_points(self.mesh.aabb_points, self.node.model_matrix)
-            self.needs_obb = False
-        return self._obb_points
-    
-    @collider_handler.setter
-    def collider_handler(self, value):
-        self._collider_handler = value
-        if not value: return
-        if self.mesh is None: self.mesh = self.node.mesh
-        elif isinstance(self.mesh, Mesh): ...
-        elif isinstance(self.mesh, str):
-            if self.mesh =='box': self.mesh = value.cube
-            else: raise ValueError(f'Incorrect built-in mesh type {self.mesh}')
-        else: raise ValueError(f'Unkown type for mesh, got {type(self.mesh)}')
+import glm
+from ..generic.abstract_bvh import AbstractAABB as AABB
+from ..generic.meshes import transform_points, get_aabb_surface_area
+from ..mesh.mesh import Mesh
+from .narrow.dataclasses import Collision
+
+class Collider():
+    node: ...
+    """Back reference to the node"""
+    collider_handler: ...
+    """Back reference to the collider handler"""
+    half_dimensions: glm.vec3
+    """The axis aligned dimensions of the transformed mesh"""
+    static_friction: float = 0.8 # input from node constructor
+    """Determines the friction of the node when still: recommended 0 - 1"""  
+    kinetic_friction: float = 0.3 # input from node constructor
+    """Determines the friction of the node when moving: recommended 0 - 1"""
+    elasticity: float = 0.1 # input from node constructor
+    """Determines how bouncy an object is: recommended 0 - 1"""  
+    collision_group: str # input from node constructor
+    """Nodes of the same collision group do not collide with each other"""
+    has_collided: bool
+    """Stores whether or not the collider has been collided with in the last frame"""  
+    collision_velocity: float
+    """Stores the highest velocity from a collision on this collider from the last frame"""  
+    collisions: dict # {node : (normal, velocity, depth)} TODO determine which variables need to be stored
+    """Stores data from collisions in the previous frame"""
+    top_right: glm.vec3
+    """AABB most positive corner"""
+    bottom_left: glm.vec3
+    """AABB most negative corner"""
+    aabb_surface_area: float
+    """The surface area of the collider's AABB"""
+    parent: AABB
+    """Reference to the parent AABB in the broad BVH"""
+    mesh: Mesh
+    """Reference to the colliding mesh"""
+
+    def __init__(self, node, collider_mesh: str|Mesh=None, static_friction: glm.vec3=0.7, kinetic_friction: glm.vec3=0.3, elasticity: glm.vec3=0.2, collision_group: str=None):
+        self.collider_handler = None
+        self.node = node
+        self.static_friction = static_friction if elasticity else 0.8 # added checks to prevent floats being set to None. Also done for kinetic and elasticity
+        self.mesh = collider_mesh
+        self.kinetic_friction = kinetic_friction if elasticity else 0.4
+        self.elasticity = elasticity if elasticity else 0.1
+        self.collision_group = collision_group
+        self.collision_velocity = 0
+        self.collisions: list[Collision] = []
+        self.parent = None
+        
+        # lazy update variables TODO change to distinguish between static and nonstatic objects
+        self.needs_obb = True # pos, scale, rot
+        self.needs_half_dimensions = True # scale, rot
+        self.needs_bvh = True # pos, scale, rot
+        
+    def get_vertex(self, index: int) -> glm.vec3:
+        """
+        Gets the world space position of a vertex indicated by the index in the mesh
+        """
+        return glm.vec3(self.node.model_matrix * glm.vec4(*self.mesh.points[index], 1))
+    
+    @property
+    def collider_handler(self): return self._collider_handler
+    @property
+    def has_collided(self): return bool(self.collisions)
+    @property
+    def half_dimensions(self): # TODO look for optimization
+        if self.needs_half_dimensions: 
+            top_right = glm.max(self.obb_points)
+            self._half_dimensions = top_right - self.node.geometric_center
+            self.needs_half_dimensions = False
+        return self._half_dimensions
+    @property
+    def bottom_left(self): return self.node.geometric_center - self.half_dimensions
+    @property
+    def top_right(self): return self.node.geometric_center + self.half_dimensions
+    @property
+    def aabb_surface_area(self): return get_aabb_surface_area(self.top_right, self.bottom_left)
+    @property
+    def obb_points(self): 
+        if self.needs_obb: 
+            self._obb_points = transform_points(self.mesh.aabb_points, self.node.model_matrix)
+            self.needs_obb = False
+        return self._obb_points
+    
+    @collider_handler.setter
+    def collider_handler(self, value):
+        self._collider_handler = value
+        if not value: return
+        if self.mesh is None: self.mesh = self.node.mesh
+        elif isinstance(self.mesh, Mesh): ...
+        elif isinstance(self.mesh, str):
+            if self.mesh =='box': self.mesh = value.cube
+            else: raise ValueError(f'Incorrect built-in mesh type {self.mesh}')
+        else: raise ValueError(f'Unkown type for mesh, got {type(self.mesh)}')
         value.add(self)

basilisk/collisions/collider_handler.py

@@ -1,225 +1,225 @@
-import glm
-
-from .collider import Collider
-from .broad.broad_bvh import BroadBVH
-from .narrow.gjk import collide_gjk
-from .narrow.epa import get_epa_from_gjk
-from .narrow.contact_manifold import get_contact_manifold, separate_polytope
-from .narrow.dataclasses import ContactPoint, ContactManifold, Collision
-from ..nodes.node import Node
-from ..generic.collisions import get_sat_axes
-from ..physics.impulse import calculate_collisions
-
-class ColliderHandler():
-    scene: ...
-    """Back reference to scene"""
-    colliders: list[Collider]
-    """Main list of collders contained in the scene"""
-    bvh: BroadBVH
-    """Broad bottom up BVH containing all colliders in the scene"""
-    
-    def __init__(self, scene) -> None:
-        self.scene = scene
-        self.cube = self.scene.engine.cube
-        self.colliders = []
-        self.polytope_data = {}
-        self.contact_manifolds: dict[tuple[Collider, Collider] : ContactManifold] = {}
-        self.bvh = BroadBVH(self)
-        
-    def add(self, collider: Collider) -> Collider:
-        """
-        Creates a collider and adds it to the collider list
-        """
-        self.colliders.append(collider)
-        self.bvh.add(collider)
-        return collider
-    
-    def remove(self, collider: Collider) -> None:
-        """
-        Removes a collider from the main branch and BVH
-        """
-        if collider in self.colliders: self.colliders.remove(collider)
-        self.bvh.remove(collider)
-        collider.collider_handler = None
-    
-    def resolve_collisions(self) -> None:
-        """
-        Resets collider collision values and resolves all collisions in the scene
-        """
-        # reset collision data
-        for collider in self.colliders: collider.collisions = []
-        
-        # update BVH
-        for collider in self.colliders:
-            if collider.needs_bvh:
-                self.bvh.remove(collider)
-                self.bvh.add(collider)
-                collider.needs_bvh = False
-        
-        # resolve collisions
-        broad_collisions = self.resolve_broad_collisions()
-        self.resolve_narrow_collisions(broad_collisions) 
-        
-    def collide_obb_obb(self, collider1: Collider, collider2: Collider) -> tuple[glm.vec3, float] | None:
-        """
-        Finds the minimal penetrating vector for an obb obb collision, return None if not colliding. Uses SAT. 
-        """
-        axes = get_sat_axes(collider1.node.rotation, collider2.node.rotation) # axes are normaized
-        points1 = collider1.obb_points # TODO remove once oobb points are lazy updated, switch to just using property
-        points2 = collider2.obb_points
-                
-        # test axes
-        small_axis    = None
-        small_overlap = 1e10
-        small_index = 0
-        for i, axis in enumerate(axes): # TODO add optimization for points on cardinal axis of cuboid
-            # "project" points
-            proj1 = [glm.dot(p, axis) for p in points1]
-            proj2 = [glm.dot(p, axis) for p in points2]
-            max1, min1 = max(proj1), min(proj1)
-            max2, min2 = max(proj2), min(proj2)
-            if max1 < min2 or max2 < min1: return None
-            
-            # if lines are not intersecting
-            if   max1 > max2 and min1 < min2: overlap = min(max1 - min2, max2 - min1)
-            elif max2 > max1 and min2 < min1: overlap = min(max2 - min1, max1 - min2)
-            else:                             overlap = min(max1, max2) - max(min1, min2) # TODO check if works with containment
-            
-            if abs(overlap) > abs(small_overlap): continue
-            small_overlap = overlap
-            small_axis    = axis
-            small_index   = i
-            
-        return small_axis, small_overlap, small_index
-    
-    def collide_obb_obb_decision(self, collider1: Collider, collider2: Collider) -> bool:
-        """
-        Determines if two obbs are colliding Uses SAT. 
-        """
-        axes = get_sat_axes(collider1.node.rotation, collider2.node.rotation)     
-        points1 = collider1.obb_points # TODO remove once oobb points are lazy updated, switch to just using property
-        points2 = collider2.obb_points
-                
-        # test axes
-        for axis in axes: # TODO add optimization for points on cardinal axis of cuboid
-            # "project" points
-            proj1 = [glm.dot(p, axis) for p in points1]
-            proj2 = [glm.dot(p, axis) for p in points2]
-            max1, min1 = max(proj1), min(proj1)
-            max2, min2 = max(proj2), min(proj2)
-            if max1 < min2 or max2 < min1: return False
-            
-        return True
-    
-    def resolve_broad_collisions(self) -> set[tuple[Collider, Collider]]:
-        """
-        Determines which colliders collide with each other from the BVH
-        """
-        collisions = set()
-        for collider1 in self.colliders:
-            if collider1.node.static: continue
-            # traverse bvh to find aabb aabb collisions
-            colliding = self.bvh.get_collided(collider1)
-            for collider2 in colliding:
-                if collider1 is collider2 or (collider1.collision_group is not None and collider1.collision_group == collider2.collision_group): continue
-                if ((collider1, collider2) if id(collider1) < id(collider2) else (collider2, collider1)) in collisions: continue
-                
-                # run broad collision for specified mesh types
-                if max(len(collider1.mesh.points), len(collider2.mesh.points)) > 250 and not self.collide_obb_obb_decision(collider1, collider2): continue # contains at least one "large" mesh TODO write heuristic algorithm for determining large meshes
-                collisions.add((collider1, collider2) if id(collider1) < id(collider2) else (collider2, collider1))
-                
-        return collisions
-    
-    def merge_contact_points(self, vec: glm.vec3, collider1: Collider, collider2: Collider, points1: list[ContactPoint], points2: list[ContactPoint]) -> None:
-        """
-        
-        """
-        def merge_points(node: Node, existing: dict[int, glm.vec3], incoming: list[ContactPoint]) -> dict[int, glm.vec3]:
-            incoming_indices = set()
-            
-            # add incoming points
-            for point in incoming:
-                incoming_indices.add(point.index)
-                if point.index not in existing or glm.length2(point.vertex - existing[point.index]) > 1e-5: existing[point.index] = glm.vec3(point.vertex)
-                    
-            # remove changed stored points
-            remove_indices = []
-            for index, vertex in existing.items():
-                if index in incoming_indices: continue
-                if glm.length2(node.collider.get_vertex(index) - vertex) > 1e-5: remove_indices.append(index) # check to see if point has moved
-            
-            # remove unused and moved points
-            for index in remove_indices: del existing[index]
-            return existing
-        
-        # check if collision is logged, if not create a new one
-        collider_tuple = (collider1, collider2)
-        if collider_tuple not in self.contact_manifolds or glm.length2(self.contact_manifolds[collider_tuple].normal - vec) > 1e-7: self.contact_manifolds[collider_tuple] = ContactManifold(vec, dict(), dict())
-        
-        # add contact point from current collision and check overlap
-        self.contact_manifolds[collider_tuple].contact_points1 = merge_points(collider1.node, self.contact_manifolds[collider_tuple].contact_points1, points1)
-        self.contact_manifolds[collider_tuple].contact_points2 = merge_points(collider2.node, self.contact_manifolds[collider_tuple].contact_points2, points2)
-    
-    def resolve_narrow_collisions(self, broad_collisions: list[tuple[Collider, Collider]]) -> None:
-        """
-        Determines if two colliders are colliding, if so resolves their penetration and applies impulse
-        """
-        for collision in broad_collisions: # assumes that broad collisions are unique
-            collider1 = collision[0]
-            collider2 = collision[1]
-            node1: Node = collider1.node
-            node2: Node = collider2.node
-            
-            # get peneration data or quit early if no collision is found
-            if collider1.mesh == self.cube and collider2.mesh == self.cube: # obb-obb collision
-                
-                # run SAT for obb-obb (includes peneration)
-                data = self.collide_obb_obb(collider1, collider2)
-                if not data: continue
-                
-                vec, distance, index = data
-                
-                # TODO replace with own contact algorithm
-                points1 = [ContactPoint(index, vertex) for index, vertex in enumerate(collider1.obb_points)]
-                points2 = [ContactPoint(index, vertex) for index, vertex in enumerate(collider2.obb_points)]
-                
-            else: # use gjk to determine collisions between non-cuboid meshes
-                has_collided, simplex = collide_gjk(node1, node2)
-                if not has_collided: continue
-                
-                face, polytope = get_epa_from_gjk(node1, node2, simplex)
-                vec, distance  = face[1], face[0]
-                
-                # TODO replace with own contact algorithm
-                points1 = [ContactPoint(p.index1, p.vertex1) for p in polytope]
-                points2 = [ContactPoint(p.index2, p.vertex2) for p in polytope]
-                
-            if glm.dot(vec, node2.position.data - node1.position.data) > 0: vec *= -1
-            
-            # add collision data to colliders
-            collider1.collisions.append(Collision(node2, vec))
-            collider2.collisions.append(Collision(node1, -vec))
-            
-            # apply impulse if a collider has a physic body
-            if node1.physics_body or node2.physics_body:
-                
-                # determine the contact points from the collision
-                points1, points2 = separate_polytope(points1, points2, vec)
-                self.merge_contact_points(vec, collider1, collider2, points1, points2)
-                
-                collider_tuple = (collider1, collider2)
-                manifold = get_contact_manifold(
-                    node1.position.data - vec, 
-                    vec, 
-                    self.contact_manifolds[collider_tuple].contact_points1.values(), 
-                    self.contact_manifolds[collider_tuple].contact_points2.values()
-                )
-                
-                collision_normal = node1.velocity - node2.velocity
-                collision_normal = vec if glm.length2(collision_normal) < 1e-12 else glm.normalize(collision_normal)
-                calculate_collisions(collision_normal, node1, node2, manifold, node1.get_inverse_inertia(), node2.get_inverse_inertia(), node1.center_of_mass, node2.center_of_mass)
-            
-            # resolve collision penetration
-            multiplier = 0.5 if not (node1.static or node2.static) else 1
-            if not node1.static: node1.position += multiplier * vec * distance
+import glm
+
+from .collider import Collider
+from .broad.broad_bvh import BroadBVH
+from .narrow.gjk import collide_gjk
+from .narrow.epa import get_epa_from_gjk
+from .narrow.contact_manifold import get_contact_manifold, separate_polytope
+from .narrow.dataclasses import ContactPoint, ContactManifold, Collision
+from ..nodes.node import Node
+from ..generic.collisions import get_sat_axes
+from ..physics.impulse import calculate_collisions
+
+class ColliderHandler():
+    scene: ...
+    """Back reference to scene"""
+    colliders: list[Collider]
+    """Main list of collders contained in the scene"""
+    bvh: BroadBVH
+    """Broad bottom up BVH containing all colliders in the scene"""
+    
+    def __init__(self, scene) -> None:
+        self.scene = scene
+        self.cube = self.scene.engine.cube
+        self.colliders = []
+        self.polytope_data = {}
+        self.contact_manifolds: dict[tuple[Collider, Collider] : ContactManifold] = {}
+        self.bvh = BroadBVH(self)
+        
+    def add(self, collider: Collider) -> Collider:
+        """
+        Creates a collider and adds it to the collider list
+        """
+        self.colliders.append(collider)
+        self.bvh.add(collider)
+        return collider
+    
+    def remove(self, collider: Collider) -> None:
+        """
+        Removes a collider from the main branch and BVH
+        """
+        if collider in self.colliders: self.colliders.remove(collider)
+        self.bvh.remove(collider)
+        collider.collider_handler = None
+    
+    def resolve_collisions(self) -> None:
+        """
+        Resets collider collision values and resolves all collisions in the scene
+        """
+        # reset collision data
+        for collider in self.colliders: collider.collisions = []
+        
+        # update BVH
+        for collider in self.colliders:
+            if collider.needs_bvh:
+                self.bvh.remove(collider)
+                self.bvh.add(collider)
+                collider.needs_bvh = False
+        
+        # resolve collisions
+        broad_collisions = self.resolve_broad_collisions()
+        self.resolve_narrow_collisions(broad_collisions) 
+        
+    def collide_obb_obb(self, collider1: Collider, collider2: Collider) -> tuple[glm.vec3, float] | None:
+        """
+        Finds the minimal penetrating vector for an obb obb collision, return None if not colliding. Uses SAT. 
+        """
+        axes = get_sat_axes(collider1.node.rotation, collider2.node.rotation) # axes are normaized
+        points1 = collider1.obb_points # TODO remove once oobb points are lazy updated, switch to just using property
+        points2 = collider2.obb_points
+                
+        # test axes
+        small_axis    = None
+        small_overlap = 1e10
+        small_index = 0
+        for i, axis in enumerate(axes): # TODO add optimization for points on cardinal axis of cuboid
+            # "project" points
+            proj1 = [glm.dot(p, axis) for p in points1]
+            proj2 = [glm.dot(p, axis) for p in points2]
+            max1, min1 = max(proj1), min(proj1)
+            max2, min2 = max(proj2), min(proj2)
+            if max1 < min2 or max2 < min1: return None
+            
+            # if lines are not intersecting
+            if   max1 > max2 and min1 < min2: overlap = min(max1 - min2, max2 - min1)
+            elif max2 > max1 and min2 < min1: overlap = min(max2 - min1, max1 - min2)
+            else:                             overlap = min(max1, max2) - max(min1, min2) # TODO check if works with containment
+            
+            if abs(overlap) > abs(small_overlap): continue
+            small_overlap = overlap
+            small_axis    = axis
+            small_index   = i
+            
+        return small_axis, small_overlap, small_index
+    
+    def collide_obb_obb_decision(self, collider1: Collider, collider2: Collider) -> bool:
+        """
+        Determines if two obbs are colliding Uses SAT. 
+        """
+        axes = get_sat_axes(collider1.node.rotation, collider2.node.rotation)     
+        points1 = collider1.obb_points # TODO remove once oobb points are lazy updated, switch to just using property
+        points2 = collider2.obb_points
+                
+        # test axes
+        for axis in axes: # TODO add optimization for points on cardinal axis of cuboid
+            # "project" points
+            proj1 = [glm.dot(p, axis) for p in points1]
+            proj2 = [glm.dot(p, axis) for p in points2]
+            max1, min1 = max(proj1), min(proj1)
+            max2, min2 = max(proj2), min(proj2)
+            if max1 < min2 or max2 < min1: return False
+            
+        return True
+    
+    def resolve_broad_collisions(self) -> set[tuple[Collider, Collider]]:
+        """
+        Determines which colliders collide with each other from the BVH
+        """
+        collisions = set()
+        for collider1 in self.colliders:
+            if collider1.node.static: continue
+            # traverse bvh to find aabb aabb collisions
+            colliding = self.bvh.get_collided(collider1)
+            for collider2 in colliding:
+                if collider1 is collider2 or (collider1.collision_group is not None and collider1.collision_group == collider2.collision_group): continue
+                if ((collider1, collider2) if id(collider1) < id(collider2) else (collider2, collider1)) in collisions: continue
+                
+                # run broad collision for specified mesh types
+                if max(len(collider1.mesh.points), len(collider2.mesh.points)) > 250 and not self.collide_obb_obb_decision(collider1, collider2): continue # contains at least one "large" mesh TODO write heuristic algorithm for determining large meshes
+                collisions.add((collider1, collider2) if id(collider1) < id(collider2) else (collider2, collider1))
+                
+        return collisions
+    
+    def merge_contact_points(self, vec: glm.vec3, collider1: Collider, collider2: Collider, points1: list[ContactPoint], points2: list[ContactPoint]) -> None:
+        """
+        
+        """
+        def merge_points(node: Node, existing: dict[int, glm.vec3], incoming: list[ContactPoint]) -> dict[int, glm.vec3]:
+            incoming_indices = set()
+            
+            # add incoming points
+            for point in incoming:
+                incoming_indices.add(point.index)
+                if point.index not in existing or glm.length2(point.vertex - existing[point.index]) > 1e-5: existing[point.index] = glm.vec3(point.vertex)
+                    
+            # remove changed stored points
+            remove_indices = []
+            for index, vertex in existing.items():
+                if index in incoming_indices: continue
+                if glm.length2(node.collider.get_vertex(index) - vertex) > 1e-5: remove_indices.append(index) # check to see if point has moved
+            
+            # remove unused and moved points
+            for index in remove_indices: del existing[index]
+            return existing
+        
+        # check if collision is logged, if not create a new one
+        collider_tuple = (collider1, collider2)
+        if collider_tuple not in self.contact_manifolds or glm.length2(self.contact_manifolds[collider_tuple].normal - vec) > 1e-7: self.contact_manifolds[collider_tuple] = ContactManifold(vec, dict(), dict())
+        
+        # add contact point from current collision and check overlap
+        self.contact_manifolds[collider_tuple].contact_points1 = merge_points(collider1.node, self.contact_manifolds[collider_tuple].contact_points1, points1)
+        self.contact_manifolds[collider_tuple].contact_points2 = merge_points(collider2.node, self.contact_manifolds[collider_tuple].contact_points2, points2)
+    
+    def resolve_narrow_collisions(self, broad_collisions: list[tuple[Collider, Collider]]) -> None:
+        """
+        Determines if two colliders are colliding, if so resolves their penetration and applies impulse
+        """
+        for collision in broad_collisions: # assumes that broad collisions are unique
+            collider1 = collision[0]
+            collider2 = collision[1]
+            node1: Node = collider1.node
+            node2: Node = collider2.node
+            
+            # get peneration data or quit early if no collision is found
+            if collider1.mesh == self.cube and collider2.mesh == self.cube: # obb-obb collision
+                
+                # run SAT for obb-obb (includes peneration)
+                data = self.collide_obb_obb(collider1, collider2)
+                if not data: continue
+                
+                vec, distance, index = data
+                
+                # TODO replace with own contact algorithm
+                points1 = [ContactPoint(index, vertex) for index, vertex in enumerate(collider1.obb_points)]
+                points2 = [ContactPoint(index, vertex) for index, vertex in enumerate(collider2.obb_points)]
+                
+            else: # use gjk to determine collisions between non-cuboid meshes
+                has_collided, simplex = collide_gjk(node1, node2)
+                if not has_collided: continue
+                
+                face, polytope = get_epa_from_gjk(node1, node2, simplex)
+                vec, distance  = face[1], face[0]
+                
+                # TODO replace with own contact algorithm
+                points1 = [ContactPoint(p.index1, p.vertex1) for p in polytope]
+                points2 = [ContactPoint(p.index2, p.vertex2) for p in polytope]
+                
+            if glm.dot(vec, node2.position.data - node1.position.data) > 0: vec *= -1
+            
+            # add collision data to colliders
+            collider1.collisions.append(Collision(node2, vec))
+            collider2.collisions.append(Collision(node1, -vec))
+            
+            # apply impulse if a collider has a physic body
+            if node1.physics_body or node2.physics_body:
+                
+                # determine the contact points from the collision
+                points1, points2 = separate_polytope(points1, points2, vec)
+                self.merge_contact_points(vec, collider1, collider2, points1, points2)
+                
+                collider_tuple = (collider1, collider2)
+                manifold = get_contact_manifold(
+                    node1.position.data - vec, 
+                    vec, 
+                    self.contact_manifolds[collider_tuple].contact_points1.values(), 
+                    self.contact_manifolds[collider_tuple].contact_points2.values()
+                )
+                
+                collision_normal = node1.velocity - node2.velocity
+                collision_normal = vec if glm.length2(collision_normal) < 1e-12 else glm.normalize(collision_normal)
+                calculate_collisions(collision_normal, node1, node2, manifold, node1.get_inverse_inertia(), node2.get_inverse_inertia(), node1.center_of_mass, node2.center_of_mass)
+            
+            # resolve collision penetration
+            multiplier = 0.5 if not (node1.static or node2.static) else 1
+            if not node1.static: node1.position += multiplier * vec * distance
             if not node2.static: node2.position -= multiplier * vec * distance