These recent days, I've been working on a collision detection + response system for my own game engine. I'm using the GJK algorithm, and while it wasn't too difficult to understand and implement, I've noticed that there are some glaring precision issues when the colliders are too different in size, leading to the algorithm incorrectly continuing to run when it should have exited. While I understand that this can be overcome in practice by switching to double-precision (or by simply forcing an
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