Efficient Collision Detection between 2D Polygons

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Hello,

I've been experimenting with GJK and it obviously works well with convex objects. However, I am interested in extending this method to non-convex 2D models, and I'm wondering if there are better ways than having to employ convex decomposition.

I found the following paper on 2D collision detection for non-convex objects and was wondering if anyone had any thoughts::

wscg.zcu.cz/wscg2004/Papers_2004_Full/B83.pdf

In particular, I would like to know if this is a more efficient method than GJK with convex decomposition. Any constructive thoughts would be appreciated!

Thanks,
Mason

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I've created a sweet 2D demo demonstrating the principles of GJK, written in the D programming language. Objects may be moved, rotated, and shape changed, all the while displaying the Minkowski Hull and Simplex. This is a great educational tool.

Here's the link if you're interested:

http://code.google.com/p/gjkd/

Comments, complaints, suggestions are encouraged.

Thanks,
Mason