   Help! About GJK algorithm!
  I got a problem when try to program the distance subalgorithm of GJK algorithm. The main idea of distance subalgorithm is to compute the distance between the origin and a simplex.I used a simple sample to test the subalgorithm: the simplex is defined by 3 points: {1,0,0}, {0,1,0}, {0,0,2}, it''s a triangle. The result (closest point) is {0.333,0.333,0.667}, of course it''s wrong.I think I maybe forget something? So plz help me! 
  Which language are you using?And what code?(it is a bit hard to help you if we do not know what has gone wrong, in what language)Nice coder   Humans are Human oriented, it is because of there nature: a design flaw-greed, jelosy the solution: AI- never greedy, and they stick to there ethics no matter what. ;  It''s a little hard to describe the problem, since I can''t type math formula. Here is the doc:http://www.win.tue.nl/~gino/solid/jgt98convex.pdfThe subalgorithm is in page 5-6, maybe I forget something about the computation of delta.  ;  This question should have been posted to the Maths & Physics Forum. I''m moving it there since it will get a better treatment from the M&P members.Timkin ;  Uh, a simplex in n dimensions is defined by n+1 points. (triangle in 2d, tetrahedron in 3d etc) ;  yes, a simplex in n dimensions is defined by n+1 pointsbut the mininum distance between origin point and the simplex is either distance between the origin & one point of the simplex, or between the origin & one line segment, or between the origin & a triangle.I think i forget something in the caculation of lambda in page 5-6. ;  Is there any transformation needed in GJK algo? ;  you''re aware that there is a collision library out there, implementing the GJK stuff? SolidI am not sure of what you mean by transformation. All you need are support mapping functions, and doing the calculation in one object space or in world space is up to you.  