[Algorithms] GJK

[Pierre T. <p.t...@wa...>]

Hi,

I'd like to implement my own version of the GJK algorithm involved in
collision detection, without just using any of the available packages
(Solid, Stephen Cameron's version, etc). But I admit I have some
difficulties with the theory behind it. Is there any GJK expert here, who
would be kind enough to briefly summarize that algorithm? For example, even
Gilbert's underlying layer - that is, Johnson's algorithm to compute the
closest point to the origin for a simplex - looks quite weird to me. The
original paper by Gilbert is quite painful to read IMHO, and I don't really
understand what's going on here. So, to start with, if someone can explain
in a few words Johnson's algorithm, it would be cool. I'm familiar with
Minkowski sums, supporting vertices and most of the usual terminology, so
don't be afraid to use the right words in the right place.

Pierre