Module parry3d::query::gjk

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The GJK algorithm for distance computation.

Structs§

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

Enums§

Functions§

  • Casts a ray on a support map using the GJK algorithm.
  • 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.
  • Compute the normal and the distance that can travel g1 along the direction dir so that g1 and g2 just touch.
  • The absolute tolerence used by the GJK algorithm.
  • Projects the origin on the boundary of the given shape.