GJK for deformable object collision detection

GJK is one of the main methods for distance calculations between convex objects. In this article, the adaptation of GJK for deformable object collision detection is proposed. Although the original method is only suited for distance calculations, the proposed method is capable of nding the colliding triangle pairs between two cotinuously deforming virtual objects in real time. Furthermore, it handles all deformation types at no extra time cost and it allows the client application to add, or remove triangles from the considered object meshes at run time with no extra overhead for the collision detection. The proposed method is very exible in many aspects, making it an ideal choice for virtual reality and haptic applications.