I had a school project done in Blender using Rigid Body simulation where obviously collision detection plays a huge role and I want to be able to explain in better detail how it all works in the background.
Basically, what I am looking for are the algorithms and techniques that Blender uses to accomplish this. I've already tried googling, the docs, discord but without luck. Now, I've read a few papers about collision detection and rigid body dynamics but I need something more specific related to Blender.
I will highly appreciate any pointers in the right direction.