In 1988, three engineers came together and developed one of the most clever solutions to the problem of detecting when two complex objects collide. Their solution, the Gilbert Johnson Keerthi (GJK) algorithm, named after the authors, made an incredible impact in the fields of robotics, control, and computer graphics. This video is about understanding this ingenious algorithm from first principles.

Video about implementing the GJK algorithm for collision detection

An explanation of how Quake, and other games like it, use BSP Trees to stop the player from walking through walls and falling through the ground.