Improving the GJK algorithm for faster and more reliable distance queries between convex objects
This article presents a new version of the Gilbert-Johnson-Keerthi (GJK) algorithm that circumvents the shortcomings introduced by degenerate geometries. The original Johnson algorithm and Backup procedure are replaced by a distance subalgorithm that is faster and accurate to machine precision, thus...
| Main Authors: | , , |
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| Format: | Journal article |
| Izdano: |
Association for Computing Machinery
2017
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