covers a myriad of game development topics. But what sets this book apart, in my opinion, is the focus on actual implementation.

Of course I’m a bit biased since I was privileged to write the chapter Collision Detection Using the GJK Algorithm (chapter 11). The chapter is about 35 pages long and covers a 2D implementation and explanation of GJK and related algorithms.

Throughout the chapter I explain the concepts with concrete examples and pseudo code. At the end of the last three sections I talk about the robustness of each, focusing on floating point problems and special cases.

Here’s a breif summary of the topics covered in the GJK chapter:

• Introduction to Collision Detection
• Convexity
• Minkwoski Sum
• SAT-GJK (GJK w/o the distance sub algo.)
• GJK Distance and Closest Points
• EPA

Big thanks to the editors of the book for allowing me this great opportunity and an even bigger thanks to my Savior Jesus Christ.