Quadratically-Constrained Quadratic Programming, Strong Duality, and the S-Lemma
A comprehensive look at why strong duality holds for QCQPs with a single constraint.
adamheins.com
The blog and project site of Adam Heins.
Latest posts
Convex Polyhedra and Constrained Convex Hulls
How to add additional constraints to the convex hull of a finite set of points.
Continuous Collision Detection as a Visual Effect
Continuous collision detection is useful in physics engines and can also look quite cool.