Despite its shortcomings, twistor string theory led to rapid developments in the study of scattering amplitudes. One was the so-called MHV formalism loosely based on disconnected strings, but was given a more basic foundation in terms of a twistor action for full Yang–Mills theory in twistor space. Another key development was the introduction of BCFW recursion. This has a natural formulation in twistor space that in turn led to remarkable formulations of scattering amplitudes in terms of Grassmann integral formulae and polytopes. These ideas have evolved more recently into the positive Grassmannian and amplituhedron.