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GJK + Expanding Polytope Algorithm - Implementation and Visualization
GJK / EPA In A Specific Direction - Faster Time of Impact Physics - Custom Algorithm
GJK + EPA test using Quickhull Algorithm
Collision Detection (GJK+EPA)
Implementing GJK - 2006
GJK Visualization
Unified EPA
GJK and EPA implementation
EPA Visualization
GJK Collision Detection
Collision Detection with Sweep and Prune, GJK, EPA, Meshless Deformation based on Shape Matching
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Last Updated: October 1, 2026
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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 ... 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 ... Be sure to my game on steam! store.steampowered.com/app/2125410/Into_the_Spiritwell/ And the ... Some years ago I ran into multiple numerical issues implementing For more details, see caseymuratori.com/blog_0003. Visualizing the results of a 3D Robust and simple implementation of the Gilbert-Johnson-Keerthi ( Here's a debug visualization of the In this video I show my job for the MSc course in Computer Engineering. This physics simulations uses the following techniques: ...