Explore the ingenious Gilbert Johnson Keerthi (GJK) algorithm for detecting collisions between complex objects in this 32-minute video. Delve into the fundamental concepts of convexity, Minkowski sums and differences, support functions, and simplexes. Follow the journey from problem introduction to full implementation of the 2D GJK algorithm, gaining valuable problem-solving techniques along the way. Discover how this clever solution has significantly impacted robotics, control, and computer graphics fields. Examine key questions, including point origin determination and line and triangle cases. Conclude with a recap and brief discussion of the original GJK paper, leaving with a deeper appreciation for the algorithm's elegant approach to a surprisingly challenging problem.