GJK algorithm distance of closest points in 3D

Computes the coordinates where the minimum distance between two convex polyhedrons occure.

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Updated Fri, 05 Jan 2018 16:09:11 +0000

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It uses the GJK algorithm to find the point, on the minkowsky negative sum of the polyhedrons, closest to the origin. It then uses barycentric coordinates to find the the points on those polyhedrons belonging to the selected point on the minkowsky negative sum.
A video made by Casey Muratori as well as an implementation of the GJK collision detection made by Matthew Sheen right here on matlabcentral have helped me a lot to understand what I was doing.
https://mollyrocket.com/849
https://www.mathworks.com/matlabcentral/fileexchange/57907-fast-3d-collision-detection-gjk-algorithm

Cite As

Philippe Lebel (2023). GJK algorithm distance of closest points in 3D (https://www.mathworks.com/matlabcentral/fileexchange/62429-gjk-algorithm-distance-of-closest-points-in-3d), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2016a
Compatible with any release
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Version Published Release Notes
1.1.0.0

Updated for a case where we instantly converge and a variable was not assigned.

1.0.0.0

added thumbnail picture, no code was modified.