@Dirk Gregorius Hi Dirk! Just a quick question on distance calculations for these primitive shapes (spheres, capsules, boxes). If I also need the distance between these shapes, would it be necessary to implement the GJK algorithm? Are their simpler ways around this problem or alternate techniques to compute the distance between two primitive shapes? (In my case primarily limited to capsules, spheres and maybe boxes) Thanks a lot for your help and inputs!

The collision matrix for sphere, capsule and box is relatively simple. But for capsule vs box GJK is what I use. I don't recall now if any good special algorithms exist. Box vs box can be implemented efficiently as a specialized SAT. Note, that this might not be generally easier for contact creation.

@Dirk Gregorius Thanks a lot for the quick response! I will run into complications only with the Capsule-Box case and if I need also to get the contact normal, am I correct in my understanding? (this is most likely the case I believe)

Thanks a ton!

Correct, capsule vs box is not trivial. The rest is rather straight forward