In this paper, we present a more efficient GJK algorithm to solve the collision detection and distance query problems in 2D . We propose a new barycode-based sub-distance algorithm that provides a simple and unified condition to determine the minimumsimplex . We benchmark our methods along with that of the well-known open-source collision detection libraries, such asBullet, FCL, OpenGJK, Box2D, and Apollo over a range of random datasets . The results indicate that our methods and implementations outperform the state-of-the-art in both collision detectionand distance query. The results show dramatic improvements in run-time for applications that only need binary results .

Author(s) : Yu Zhang, Yangming Wu, Xigui Wang, Xiaocheng Zhou

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Keywords : distance - algorithm - results - collision - barycode -

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