what algorithm is used by function hff?

[zzy5510]

Hello! I have read your papers and codes, which are excellent works. I'm really interested about your work. I found there is an update in version3.0.0, where hff1 function is used to judge which Voronoi region is it belongs to. However, I found the algorithm used here is different from the way described on the paper 《Improving the GJK Algorithm for Faster and More Reliable Distance Queries Between Convex Objects》, which is the same as version 1.1. What kind of algorithm is used here?

Thank you again.

[MattiaMontanari]

@zzy5510 that's right! I'm very happy to know that someone dives so deep in the code.
The subalgorithm is indeed different - this is much better - however the theory is not published anywhere simply because I never had time to wrap up the paper..