Spheres are nice and all, but there comes a time when more complex shapes are needed. One popular algorithm for testing collisions is the Gilbert–Johnson–Keerthi algorithm, or GJK for short. With it we can detect collisions between any two convex polygons.

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Intro- 0:00
Sphere vs Polygons: 0:17
Supporting Points: 1:20
GJK: 3:20

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