Minkowski Portal Refinement

The Minkowski Portal Refinement collision detection algorithm is a technique for determining whether two convex shapes overlap.

The algorithm was used in Tomb Raider: Underworld and other games created by Crystal Dynamics and its sister studios within Eidos Interactive.

Support mappings require only a single mathematical function to represent a point, line segment, disc, cylinder, cone, ellipsoid, football, bullet, frustum or most any other common convex shape.

Once a set of basic primitives have been created, they can easily be combined with one another using operations such as sweep, shrink-wrap and affine transformation.

However, according to its author, MPR is simpler, more numerically robust and handles translational sweeping with very little modification.