1. A method comprising: using an aligned, vectored data structure in a Gilbert-Johnson-Keerthi algorithm run on a processor, said structure including separating axes, position and rotation of a local coordinate system and a position of each point in a convex set; and implementing said Gilbert-Johnson-Keerthi algorithm in only two loops, wherein the first loop supports a mapping function and processes all points in a given set and the second loop repeats the algorithm until an optimum point for a shortest distance between two objects is identified.