Blog posts

2019

Convex polyhedra collision test (GJK Algorithm)

10 minute read

Published:

If we interpret a polyhedron as a set of points, two polyhedra represented by sets \(A\) and \(B\), for example, collide if \(A \cap B \neq \emptyset\). The intersection set \(A \cap B\) represents all pairs of points between \(A\) and \(B\) which have distance \(0\) between them, because well… each of these pairs is composed by the same point (shared by \(A\) and \(B\)).