3 ms·

I implemented GJK years ago based on a nice presentation by Casey Muratori: https://www.youtube.com/watch?v=Qupqu1xe7Io https://www.youtube.com/watch?v=Qupqu1xe

• beaumayns 5y ago
  This is the explanation that made it click for me, although in my experience it seems like he's wrong about being able to rule out the need for doing certain checks when you already "know" the origin is not in that section due to how you got to where you are. Not sure if my implementation was just shitty, but you'll get weird results when objects are very close if you don't exhaustively check every sector - probably due to numerical imprecision, if I had to guess.