GJK, EPA

Gilbert-Johnson-Keerthi, GJK.

Expanding Polytope Algorithm, EPA.

Resources

• https://vec3.ca/gjk/implementation/

• ACRL: GJK 椭圆、曲线与最近点计算

• GJK Wiki

• 2D GJK EPA by Claudio Esperança

• YT GJK Impl by Casey Muratori

• YT EPA by Winterdev