Spheresgjck 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...
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Figure 5. When two objects collide, shown in red, the boundary of their MS will contain the origin point. Non-colliding objectgjcks, shown in blue, will create an MS which does contain the origin.
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gjck|GJK Algorithm Explanation & Implementation
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