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This paper presents an implementation of the Gilbert-Johnson-Keerthi algorithm for comput ing the distance between convex objects, that has improved performance, robustness, and versatility over earlier implementations. The algorithm presented here is especially suitable for use in collision detection of objects modeled using various types of geometric primitives, such as boxes, cones, and spheres, and their images under affine transformation.
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Gino van den Bergen (1999) studied this question.
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