Two Different & Unknown GJK Algorithms, Visualized, Implemented, and Explained

There are actually two different GJK algorithms! You can really only find information online about one of them, which I refer to as the shortcut algorithm.

First, be sure to check out and WISHLIST my game on steam!
https://store.steampowered.com/app/21...

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  / kujukuju  

To see the code for both algorithms, check out my github repo.
https://github.com/kujukuju/kodaphysics

For more information about this shortcut algorithm, check out Casey Muratori's video. One of the best in depth explanations of this algorithm.
   • Implementing GJK - 2006  

There other algorithm, which relies on origin projection onto the simplex, is the more complete version of this algorithm, and contrary to Casey's video, this algorithm has divides. This algorithm also returns more information upon non-intersection such as the nearest faces and the distance between convex hulls. This information is necessary for time of impact physics engines.

For more information about the complete algorithm, check out the book "Real-Time Collision Detection" by Christer Ericson.