Robust and simple implementation of the Gilbert-Johnson-Keerthi (GJK) distance and the Expanding Polytope Algorithm (EPA).
The demo is written in C#, with OpenTK as only dependency.
The implementation itself is contained in GJKEPA.cs with ~400 lines of code. The algorithm detects whether two convex objects are separated or colliding and returns the points of closest distance and deepest penetration, respectively.
In contrast to other available implementations we only work with a convex hull with finite volume. Thus the GJK-phase differs from the computationally more efficient "traditional implementations" of GJK. The algorithm relies solely on point-triangle distances.
The demo should be able to run cross-platform utilizing OpenGL.
1. Install the [.NET 8.0 SDK](https://dotnet.microsoft.com/download/dotnet/8.0)
2. git clone https://github.com/notgiven688/unified_epa.git
3. cd unified_epa
4. dotnet run -c Release
