GJK算法python实现

GJK算法是一种用于计算两个凸多边形之间最近距离的算法。下面是一个简单的Python实现：

import numpy as np

def support(a, b, d):
    return np.argmax(np.dot(a-b, d))

def gjk(a, b):
    simplex = [support(a, b, np.array([1, 0])) - support(a, b, np.array([-1, 0]))]
    while True:
        d = -simplex[-1]
        if len(simplex) == 3:
            a, b, c = simplex
            ab, ac, ad = b-a, c-a, d-a
            abc = np.cross(ab, ac)
            if np.dot(np.cross(abc, ac), ad) > 0:
                simplex.remove(c)
                simplex.remove(simplex[-1])
                continue
            if np.dot(np.cross(ab, abc), ad) > 0:
                simplex.remove(c)
                continue
            if np.dot(abc, ad) > 0:
                return False
            return True
        else:
            simplex.append(support(a, b, d))