GJK algorithms are often used incrementally in simulation systems and video games. In this mode, the final simplex from a previous solution is used as the initial guess in the next iteration, or "frame".

Jun 30, 2024 · One popular algorithm for testing collisions is the Gilbert-Johnson-Keerthi algorithm, or GJK for short. With it we can detect collisions between any two convex polygons.

One popular algorithm for testing collisions is the Gilbert–Johnson–Keerthi algorithm, or GJK for short. With it we can detect collisions between any two convex polygons.

Dec 24, 2025 · The Gilbert–Johnson–Keerthi (GJK) distance algorithm is a method of determining the minimum distance between two convex sets. The algorithm's stability, speed which operates in near …

GJK is treating the hourglass like a rectangle and ignoring the hollow parts. This is because the support function only returns points farthest in a particular direction.

Solve single set of equations once proper sub simplex has been found. Pros: Most efficient and Intuitive way of working with GJK. Cons: May be floating point issues in using two different mathematical …

Oct 8, 2023 · The version of the GJK algorithm discussed in this paper only determines whether or not a collision was detected, but the original algorithm can easily be modified to gauge inter-object …

That's exactly what the GJK algorithm takes advantage of. Instead of directly checking if the sets have an intersection, we subtract them and see if the new set contains the origin.

In general, collision detection is tackled as a computational geometry problem, with the so-called Gilbert, Johnson, and Keerthi (GJK) algorithm being the most adopted solution nowadays.

A fast and robust C implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm with interfaces for C#, Go, Matlab and Python. A Unity Plug-in is also available in another repository.