3 ms·
There was an even better version of GJK published around 2017 which made it more numerically robust: the Signed Volume Method (https://dl.acm.org/doi/10.1145/30
by cyber_kinetist 2mo ago
There was an even better version of GJK published around 2017 which made it more numerically robust: the Signed Volume Method (https://dl.acm.org/doi/10.1145/3083724 https://dl.acm.org/doi/10.1145/3083724) OpenGJK is written by the same author, and is based on that paper.