https://dyn4j.org/2010/04/gjk-gilbert-johnson-keerthi/
It was years ago but I remember it was the only good ressource I could find that allowed me to understand how it works.
https://dyn4j.org/2010/04/gjk-gilbert-johnson-keerthi/
It was years ago but I remember it was the only good ressource I could find that allowed me to understand how it works.