Gilbert–Johnson–Keerthi distance algorithm: Difference between revisions

Revision as of 05:42, 14 March 2023

Latest revision as of 14:57, 18 June 2024

(One intermediate revision by one other user not shown)

Line 30:

'''if''' dot(A, D) < 0:

reject

s = s ∪ {A}

s, D, contains_origin := NearestSimplex(s)

'''if''' contains_origin:

Line 50:

*[https://ora.ox.ac.uk/objects/uuid:69c743d9-73de-4aff-8e6f-b4dd7c010907/download_file?safe_filename=GJK.PDF&file_format=application%2Fpdf&type_of_work=Journal+article "Improving the GJK algorithm for faster and more reliable distance queries between convex objects"], Montanari, Petrinic and Barbieri.

*[https://arxiv.org/pdf/2205.09663.pdf "Collision Detection Accelerated: An Optimization Perspective"], Montaut, Le Lidec, Petrik, Sivic and Carpentier. This research article notably shows how the original GJK algorithm can be accelerated by exploiting Nesterov-type acceleration strategies, contributing to lowering the overall computational complexity of GJK.

*[https://computerwebsite.net/writing/gjk "the Gilbert–Johnson–Keerthi algorithm explained as simply as possible"]

{{DEFAULTSORT:Gilbert-Johnson-Keerthi distance algorithm}}