Closest features determination between range point of contact

Contact determination is the second part of narrow phase collision detection that involved finding the point of contact using trajectory information or other technique to approximate time of collision and coordinate the collision. Each object has their own trajectory information that is based on their object direction that change when updating their coordinate of the object vertices. For example, when one of the object vertex located at point A (let say 1,1) move into the point B (let say 1,5), then we have an update just for y-axis where it changes from point 1 to point 5 and involved y-positive direction. Hence, our purpose is to approximate accurately the point B where we need to know the direction of x-axis, y-axis, and z-axis are heading under reasonable time consumption and less computation with nearly accurate approximation technique. In this paper, we presented our theoretical framework of finding closest features from point of contacts between nearly intersected triangles.