GJKEPA to detect distance b/w non intersecting bodies?
Posted: Tue Jun 21, 2016 6:25 pm
The GJK-EPA algorithm is used to detect the closest points between two convex hulls. The termination simplex from the GJK collision detection routine is used as the initial simplex for the EPA algorithm. If there is no collision then there is no termination simplex to initialize EPA. In that case is penetration distance the calculation of EPA algorithm correct. There is a convexhulldistance demo in bullet demos. It continuously calculates the distance between two non intersecting convex hulls using gjkepa algo. Is it correct/accurate?