The Gilbert-Johnson-Keerthi Distance Algorithm
نویسنده
چکیده
This paper gives an overview of the Gilbert-Johnson-Keerthi (GJK) algorithm, which provides an iterative method for computing the euclidian distance between two convex sets in m-dimensional space with linear time complexity. The algorithm is very versatile and several enhancements have been published since it was first introduced. Apart from some historical information, this paper will provide the mathematical basics required to understand GJK, mainly support mappings and the Minkowski Difference of geometrical objects. The algorithm will be explained and examples of enhancements and applications are given.
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تاریخ انتشار 2009