[−][src]Module parry3d::query::gjk

The GJK algorithm for distance computation.

Structs

CSOPoint	A point of a Configuration-Space Obstacle.
ConstantOrigin	A support mapping that is the point at (0.0, 0.0, 0.0).
DilatedShape	The Minkowski sum of a shape and a ball.
VoronoiSimplex	A simplex of dimension up to 3 that uses Voronoï regions for computing point projections.

Results of the GJK algorithm.

cast_local_ray	Casts a ray on a support map using the GJK algorithm.
closest_points	Projects the origin on a shape using the Separating Axis GJK algorithm. The algorithm will stop as soon as the polytope can be proven to be at least `max_dist` away from the origin.
directional_distance	Compute the normal and the distance that can travel `g1` along the direction `dir` so that `g1` and `g2` just touch.
eps_tol	The absolute tolerence used by the GJK algorithm.
project_origin	Projects the origin on the boundary of the given shape.