geometry - Calculating depth penetration between two colliding meshes -

geometry - Calculating depth penetration between two colliding meshes -

so, have 2 static meshes (no animation). have algorithm can determine if overlap (collide) using aabbs , detailed triangle overlap inspection. now, want expand adding depth penetration computation.

i wrote can calculate depth penetration between 2 triangles minimum distance 1 of them has travel in order stop overlaping. thing works fine 2 triangles can't give right results whole mesh since clearing 1 pair doesn't mean clearing whole mesh overlap. ideas on how should approach problem?

the algorithm should fast can used big number of objects.

you can compare , bring together points , create new mesh.

geometry collision depth computation