I'm trying to perform continuous collision detection between a particle (with linear and angular displacement) and a convex hull.
I've read Real-Time Collision Detection by Christer Ericson and in chapter 5 section 3.8 he describes how to determine the time of impact between a line segment and a convex hull (which is represented by the intersection of a set of planes).
The idea is to clip the line segment by each plane and if a segment with a non-zero length remains, then pick the smallest time 't' and that's your time of impact. I've drawn an …