Figure 5. When two objects collide, shown in red, the boundary of their MS will contain the origin point. Non-colliding objects, shown in blue, will create gjckan MS which does contain the origin.
Fast and reliable implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm for C, C#, Go, Matlab and Python - MattiaMontanari/openGJK
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...
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gjck|A Geometric Interpretation of the Boolean Gilbert
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