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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...

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

In 1988, three engineers came together and developed one of the most clever solutions to the problem of detecting when two complex objects collide. Their sol...

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