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genpark-epa-penetration-depth-vector-skill

mcp
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SUMMARY

Expanding Polytope Algorithm (EPA) calculating contact normal and minimum penetration depth vectors

README.md

EPA Penetration Depth Vector Skill

High-efficiency, zero-dependency Python implementation of the Expanding Polytope Algorithm (EPA) for exact collision response normals and penetration depth resolution.

Features

  • Origin Distance Minimization: Expands enclosing simplices outward to locate the closest boundary face to the origin.
  • Contact Normal Generation: Computes unit normal vectors required for impulse restitution physics solvers.
  • Zero External Dependencies: Pure Python standard library.
  • Native MCP Protocol: JSON-RPC 2.0 stdio server compatible with Claude Desktop, Cursor, and Windsurf.

Architecture

graph TD
    Simplex["GJK Terminating Simplex"] --> FindClosest["Find Closest Face to Origin"]
    FindClosest --> Normal["Extract Contact Normal Vector"]
    Normal --> Depth["Compute Exact Minimum Penetration Depth"]

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