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The Gilbert–Johnson–Keerthi distance algorithm is a method of determining the minimum distance between two convex sets, first published by Elmer G. Gilbert, Daniel W. Johnson, and S. Sathiya Keerthi in 1988. Unlgjckike many other distance algorithms, it does not require that the geometry data be stored。 See more

Figure 5. When two objects collide, shown in red, the boundary of their MS will contain the origin point. Non-colliding objects, shown in blue, will create an MS which does contain the origin.

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