An implementation of the Gilbert-Johnson-Keerthi (GJK) algorithm for the collision detection of convex objects, written in the D programming language. Utilizes the Tango and Derelict (for OpenGL and SDK) libraries.

Please see README.TXT for polygon controls. Be sure to check the SVN for the latest code update. If you find gjkD to be useful, please leave feedback in the discussion forum.

Now features Expanding Polytope Algorithim (EPA)