Oh man I spent months in highschool thinking about that algorithm. I remember reading some paper on it and being confused by notation and then I found Casey's v

Oh man I spent months in highschool thinking about that algorithm. I remember reading some paper on it and being confused by notation and then I found Casey's video and it was so simple to understand. It made me think what was the point of papers when they make such trivial things so hard to understand. Never really got EPA working correctly, was too OCD to finish stuff like that back then.