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Spheres are nice and all, but there comes a time when more complex shapes are needed. One popular algorithm for testing collisions is the Gilbert–Johnson–Kee...

The paper presents a geometric interpretation of the Gilbert-Johnson-Keerthi (GJK) algorithm, which is an iterative improvement technique for finding the minimum distance between two。

Fast and reliable implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm for C, C#, Go, Matlab and Python - MattiaMontanari/openGJK

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