Gilbert-Johnson-Keerthi distance algorithm
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The Gilbert-Johnson-Keerthi distance algorithm is a method of determining the minimum distance between two convex sets. Unlike many other distance algorithms, it does not require that the geometry data be stored in any specific format, but instead relies solely on a support function to iteratively generate closer simplexes to the correct answer using minkowski sum(CSO) of two convex shapes.
The algorithm's stability, speed, and small storage footprint make it popular for realtime collision detection, especially in physics engines for video games.
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