Expand description
D-dimensional half-space (infinite plane with one solid side).
Defined by a normal and offset: all points p where normal · p <= offset
are “inside” the solid region. The boundary plane is normal · p = offset.
§GJK Compatibility
Half-spaces are unbounded, so the support function returns a large finite
extent (HALFSPACE_EXTENT = 1e6) in the query direction. This works for
GJK but is imprecise. For sphere, capsule, and box shapes, use the
analytical contact functions instead — they’re exact and faster.
Structs§
- Half
Space - D-dimensional half-space: the set of points where
normal · p <= offset.