Re: [Algorithms] GJK

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

> I assume by Johnson's algorithm you mean the sub-algorithm that computes
> the minimal convex simplex that contains the new support point that is
> closer to the origin?

Absolutely.

> I think all descriptions I have read of it have
> been just hacky ways to determine how to convex-ly combine (by finding the
> best lamda values to use) the points in the previous simplex and the new
> support point to find the minimal convex simplex that contains that new
> support point.  Does that seem correct?

I think so - as far as I can tell, and including the word "hacky" :)

> By the way, what is the *intuitive* reason that the simplex can be up to
> four dimensions (i.e. the tetrahedron)?  Is it because the closest points
> can be from two edges?

Sorry, I'm a newbie to GJK and for the moment there's nothing intuitive in
the whole thing. I'll try to dig some more into it before giving you my
probably totally wrong answers...

Pierre