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Convexity
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Classroom Contents
A Strange But Elegant Approach to a Surprisingly Hard Problem - GJK Algorithm
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- 1 Introducing the Problem
- 2 Convexity
- 3 Infinite Point Perspective
- 4 Minkowski Sums and Differences
- 5 Triangles inside Minkowski Differences
- 6 Simplexes
- 7 Support Functions
- 8 Core GJK Algorithm: Broad Perspective
- 9 Remaining Key Questions
- 10 How to determine if a point passed the origin?
- 11 The line case
- 12 The triangle case
- 13 GJK Implementation
- 14 Recap and quick note about original GJK paper
