Gilbert–Johnson–Keerthi Algorithm
GJK algorithm is a method used in computational geometry to determine if two convex shapes intersect. You can check the following sources to get information about the subject.
Getting all the support point for each shape in every possible direction
Minkowski sum (green colored shape) and difference (red colored shape) for circle and square shapes
Minkowski difference shape highlighted with red color, and the triangle simplex that contains origin point
This post is licensed under CC BY 4.0 by the author.