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Unified EPA
EPA Visualization
GJK Visualization
GJK + EPA test using Quickhull Algorithm
A Strange But Elegant Approach to a Surprisingly Hard Problem (GJK Algorithm)
GJK Demo
Implementing GJK - 2006
GJK and EPA implementation
A2 GJK/EPA P.1
Collision, GJK, EPA, Ray Cast
Visualizing Minkowski Difference and EPA (Expanding Polytope Algorithm)
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Last Updated: August 12, 2026
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