Re: [Algorithms] GJK

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

> provided have been simplified already from cramer's rule.  I'm not seeing
> why the new "closest point in simplex to origin" is perpendicular to the
> affine combination of the points in simplex, so I've stopped at that point

Maybe this can help:
http://www.codercorner.com/gjk00.jpg
http://www.codercorner.com/gjk01.jpg

Feel free to correct possible little errors (Ron?).

Pierre