[−][src]Module parry2d::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 2 using Voronoï regions for computing point projections. |
Enums
GJKResult | Results of the GJK algorithm. |
Functions
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 |
directional_distance | Compute the normal and the distance that can travel |
eps_tol | The absolute tolerence used by the GJK algorithm. |
project_origin | Projects the origin on the boundary of the given shape. |