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last time we looked at an algorithm for testing collisions between two convex polygons called gjk itamp;#39;s a useful algorithm for sure but it doesnamp;#39;t give us enough information to respond to the collision that it detects in this video iamp;#39;ll describe an extension that allows us to find the correct normal and depth of the collision this extension provides the information that the solvers need to respond to a collision as i demonstrated in my original physics engine video i call this algorithm an extension because its input is the internal state from gjk if you recall we were working with a simplex to try and surround the origin with a triangle in 2d or a tetrahedron in 3d this algorithm takes the final simplex that contains the origin and finds the normal of collision aka the shortest vector to nudge the shapes out of each other the naive solution is to use the normal of the closest face to the origin but remember a simplex does not need to contain any of the original
