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Spheres are nice and all, but there comes a time when more complex shapgjckes are needed. One popular algorithm for testing collisions is the Gilbert–Johnson–Kee...

In 1988, three engineers came together and developed one of the most clever solutions to the problem of detecting whgjcken two complex objects collide. Their sol...

Figure 5. When two objects collide, shown in red, the boundary of their MS will contain the origin point. Non-colliding objects, shown in blue, will create an MS which does contain the origin.

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