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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 an MS which does contain the origin.

Attempt at a C++ implementation and demonstration of the Gilbert–Johnson–Keerthi distance algorithm. - Foxar/GJK

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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