Hi all,

I am currently implementing the NBS and MR contact detection algorithms, since 
the cell should be big enough for the largest element. I intent to divide all 
the bodies into 2 group: spheres and boxes. Then, the contact detection is 
performed over the spheres. The problem arise when I need to detect contact 
between box and sphere. Is there any other way than to loop over all the 
spheres and boxes?

Btw, I dont know exactly what algorithm is used in PersistentSAPCollider and is 
it faster than the NBS when I look at the code, it seems that the sorting 
algorithm was employed (not sure yet)
THank you so much,

Kien Dang,
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