Last edited by hbghlyj at 2025-3-8 05:00:38A Strange But Elegant Approach to a Surprisingly Hard Problem (GJK Algorithm)
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旁白说话很清楚: (从4:12开始)
A Minkowski sum is a simple idea.
We take every possible point in one shape add it to every possible point in another shape and the resulting shape is the Minkowski sum.
Mathematically we are basically treating every point on each shape as a vector from the origin and then adding every pair of vectors to get a new set of points.
A few of these vector sums will define the boundary of the new shape.
Another nice way to visualize what we're doing here is we're basically sweeping one shape over another, resulting in a dilation between the two shapes.
Because of the addition offsets from the origin do matter, and you will see it in the result for the gjk algorithm what we actually care about is the Minkowski difference, which is just a Minkowski sum where we negate all the points of one shape. So while I will be referring to the subtraction of two shapes as a Minkowski difference know that internally it's really just a Minkowski sum.
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