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genpark-gjk-convex-collision-detection-skill

mcp
Guvenlik Denetimi
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SUMMARY

Gilbert-Johnson-Keerthi (GJK) convex polytope collision detector using Minkowski difference support mappings

README.md

GJK Convex Collision Detection Skill

Robust, zero-dependency Python implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm for convex polygon collision detection.

Features

  • Minkowski Difference Simplex: Reductively searches for origin inclusion within Minkowski difference polytope.
  • Support Mapping Generalization: Evaluates arbitrary convex hulls without explicit vertex mesh boolean intersections.
  • Zero External Dependencies: Pure Python standard library.
  • Native MCP Protocol: JSON-RPC 2.0 stdio server compatible with Claude Desktop, Cursor, and Windsurf.

Architecture

graph TD
    ShapeA & ShapeB --> Minkowski["Minkowski Difference A - B"]
    Minkowski --> Simplex["Build Iterative Simplex"]
    Simplex --> OriginCheck{"Origin Included in Simplex?"}
    OriginCheck -- Yes --> Collided["Collision Detected"]
    OriginCheck -- No --> Disjoint["Disjoint Convex Shapes"]

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