The OpenGJK library
OpenGJK comes with extensive documentation.
Documentation
Overview
OpenGJK is free and received contributions from many people. The development started in 2015 at Oxford University, with the goal of bringing GJK into engineering simulations.
Showcases
This page shows how OpenGJK is used, or called, from within Neper, PyBullet and Unity. Get in touch if you know of other case studies that should complete this list.
Benchmarks
The OpenGJK library is continuously for accuracy and performance. This page briefly shows the result of the benchmark that test the runtime performance of the library.
Examples
The GitHub repository contains may examples on how to invoke OpenGJK from various languages and packages. These are listed and briefly described below.