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A Fast and Robust GJK Implementation for Collision Detection of Convex Objects

Date written:1999
Authors:Gino van den Bergen
Resource type:article
Links:The article in .pdf format (79kB)


This article presents an algorithm for determining the distance or a separating axis between two convex objects. Tests have shown that the algorithm is 5 times faster than the closest-feature algoritm used in I-COLLIDE. The algorithm is described as the iterative GJK algorithm.

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Date created:0000-00-00 00:00:00
Date evaluated:0000-00-00 00:00:00
Categories:Physics/Collision detection/Polytopes