[BUG] Fix collision detection algorithm

[rayzchen]

Is there an existing issue for this?

• I have searched the existing issues

System info

Loaded config
Detected settings.json entry
Using window provider GLFW
Loaded PyUnity version 0.9.0
##############################
         VERSION INFO
##############################
PyUnity version: v0.9.0
Python version: v3.10.4-final
Operating system: Windows 10
Machine: AMD64
Python architecture: 64bit
Dependencies:
- pyopengl version: 3.1.6
- pillow version: 9.1.1
- pysdl2 version: 0.9.11
- pysdl2-dll version: 2.0.20
- pyglm version: 2.5.7
- importlib-resources version: None
- glfw version: 2.5.3

Describe the bug

Physics is broken, when two cubes collide head-on they collide into each other
Collision point is offset by 1 unit in the Z axis in example 2
Example 3, red cube has infinite inertia yet it still rotates

To reproduce

Run examples 2 and 3, observe
For example 2 pressing Space and R starts and resets the cubes respectively

Code

No response

Traceback

No response

Additional context

Using GJK and EPA algorithm, pretty expensive and still doesnt work

[rayzchen]

Fixed infinite inertia problem

[rayzchen]

Looking into HPP-FCL, but it requires NumPy and isn't crossplatform

[rayzchen]

hppfcl seems to be working perfectly fine, not too laggy either