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The paper presents a geometric interpretation of the Gilbert-Johnson-Keerthi (GJK) algorithm, which is an iterative improvement technique for finding the minimum distance between two。

Figure 5. When two ogjckbjects collide, shown in red, the boundary of their MS will contain the origin point. Non-colliding objects, shown in blue, will create an MS which does contain the origin.

Fast and reliable implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm for C, C#, Go, Matlab and Python - MattiaMontanari/openGJK

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