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Spheres are nice and all, but there comes a time when more complex shapes are needed. One popular In 1988, three engineers came together and developed one of the most clever solutions to the problem of detecting when two ... This article presents a new version of the Gilbert-Johnson-Keerthi ( Sorry about the constant noise-gating by the mic, and sorry I stammer so much... I have a hard time thinking while speaking but I ... Some years ago I ran into multiple numerical issues
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Improving the GJK Algorithm for Faster and More Reliable Distance Queries Between Convex Objects
Two Different & Unknown GJK Algorithms, Visualized, Implemented, and Explained
GJK / EPA In A Specific Direction - Faster Time of Impact Physics - Custom Algorithm
GJK + Expanding Polytope Algorithm - Implementation and Visualization
Separating Axis Theorem (SAT) and Gilbert–Johnson–Keerthi (GJK) Implementation in Unity
GJK + EPA Collision detection & resolution
GJK + EPA test using Quickhull Algorithm
GJK (Gilbert-Johnson-Keerthi) Collision Detection Algorithm Test
GJK Visualization
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Last Updated: June 14, 2026
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