#include <gjk.h>
Public Types | |
Valid | |
Inside | |
Failed | |
enum | Status { Valid, Inside, Failed } |
Public Member Functions | |
GJK (unsigned int max_iterations_, FCL_REAL tolerance_) | |
void | initialize () |
Status | evaluate (const MinkowskiDiff &shape_, const Vec3f &guess) |
GJK algorithm, given the initial value guess. | |
void | getSupport (const Vec3f &d, SimplexV &sv) const |
apply the support function along a direction, the result is return in sv | |
void | removeVertex (Simplex &simplex) |
discard one vertex from the simplex | |
void | appendVertex (Simplex &simplex, const Vec3f &v) |
append one vertex to the simplex | |
bool | encloseOrigin () |
whether the simplex enclose the origin | |
Simplex * | getSimplex () const |
get the underlying simplex using in GJK | |
Public Attributes | |
MinkowskiDiff | shape |
Vec3f | ray |
FCL_REAL | distance |
Simplex | simplices [2] |
Classes | |
struct | Simplex |
struct | SimplexV |
Definition at line 110 of file gjk.h.