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Using GJK for collision detection

Richard Baker
in Computer Science

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I successfully implemented GJK.  It is fast, but narrow phase is a bottleneck because i do GJK many times in the binary search.  I read about the EPA, expanding poly tope algorithm.  

Question:

EPA returns the point on the CSO closest to the origin.  Does this point correspond to the edge/edge or vertex/face to collide first?

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