Research And Improvement Of GJK Collision Detection

Real time collision detection is one of the most important pr oblems in the fields of robotics, computer animation, and virtual reality, etc. Its fundamental task is to detect whether there are contacts or penetrations between two or among multiple objects. Indeed, there have been many research achievements on solving the pr oblem of collision detection, this problem, however, is yet to be solved with the emergence of such burgeoning techniques as virtual reality, and the demands of real time inter activity and realistic simulation of motions of virtual objects thereafter.The GJK algorithm has been analysed her e.Essentially GJK is a iterative method who uses support mapping, and although the GJK algorithm is complicated and hard to grasp ,it is to easy to implement and is applicable to general convex polytopes. The traditional GJK distance algorithm is an iterative method for computing the distance between convex objects. This article pr esents a GJK that has improved perfor mance, r obustness, and versatility over earlier implementations. This new methods can perfor m collision detection and penetration depth computation on a large class of convex objects.