A Fast and Robust GJK Implementation for Collision Detection of Convex Objects

Authors

Gino Van den Bergen

Year

1999

Journal Paper

Algorithm

Fast and Robust GJK

Source

Journal of Graphics Tools

Identifiers

DOI 10.1080/10867651.1999.10487502

Abstract¶

This paper presents an implementation of the Gilbert-Johnson-Keerthi algorithm for computing the distance between convex objects, that has improved performance, robustness, and versatility over earlier implementations. The algorithm presented here is especially suitable for use in collision detection of objects modeled using various types of geometric primitives, such as boxes, cones, and spheres, and their images under affine transformation.

Summary¶

Presents a robust implementation of the Gilbert-Johnson-Keerthi distance algorithm for convex objects, emphasizing performance and support for common primitive types and affine transformations. The paper is a practical reference for deploying GJK in collision-detection systems rather than only describing the underlying distance theory.