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Spheres are nice and all, but there comes a time when more compgjcklex shapes are needed. One popular algorithm for testing collisions is the Gilbert–Johnson–Kee...

The Gilbert–Johnson–Keerthi distance algorithm is a method of determining the minimum distance between two convex sets, first published by Elmer G. Gilbert, Daniel W. Johnson, and S. Sathiya Keerthi in 1988. Unlike many other distance algorithms, it does not require that the geometry data be stored。 See more

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